Design of MRAS-based adaptive controllers for motion systems using linear motors

This paper introduces an adaptive controller that designed based on Model Reference Adaptive System (MRAS) algorithm for motion systems using linear motors. For a given plant model the adaptive controller is designed such that the closed-loop control system has the characteristics of the desired dynamic system. The resulting controller is known as a combination between an adaptive PID controller and an adaptive feed-forward controller. Stability of the adaptive system is guaranteed by using Lyapunov stability theory for the design. The adaptive algorithm is quite simple, robust and converges quickly. Performances of the controlled system are studied through simulation in Matlab/Simulink environment. The effectiveness of the methods is demonstrated by numerical simulations.