Adaptive DO-FPI controller for the first-order plant

The paper discusses an application of the model reference adaptive control (MRAC) in automatic tuning of the disturbance observer (DO) based filtered PI control with scalable filtering properties (DO-FPI). The control structure with the DO-FPI controller is characterized by a low ripple of the plant input signal. A MRAC algorithm has been designed for the control loop with the first order plant. The proposed algorithm is not sensitive to the amplitude of the setpoint. The settling time of parameter adaptation is almost independent of the control loop dynamics. The proposed solution has been verified on a speed AC drive. The effectiveness of the proposed method is shown through the experimental results.