Improving the performance of a printing system using Model Reference Adaptive Control: An LMI approach

A novel Model Reference Adaptive Control (MRAC) scheme is proposed. The formulation involves recasting the error dynamics, which comprise of the tracking error and error of the controller parameters, into a Takagi-Sugeno model. Instead of using a single adaptation gain, multiple adaptation gains are employed. A sufficient condition is derived to ensure the asymptotic stability of the system for both state and output feedback cases. The adaptive control problem is formulated as a minimization of the L₂ gain. The optimal adaptation gains are obtained by solving a linear matrix inequality problem. A numerical example compares the proposed approach with the standard MRAC. Moreover, the proposed approach is applied to control a real printing system to improve the printing quality where large parameter variations, owing to different print jobs, and disturbances are presence.