Improved model reference adaptive control for load simulator

This study presents an improved model reference adaptive control (MRAC) method for the load simulator. Based on the MRAC method, an adaptive feedforward controller was constructed to eliminate the extraneous torque. By constructing the appropriate form of the feedforward controller and the Lyapunov function, the convergence of the tracking error was proved with Lyapunov stable theorem, and the adaptive law of the controller parameters was achieved. The simulation results indicate that the load simulator with the improved MRAC can get high performance, and its performance can be greatly improved compared with the system under normal MRAC.