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Convergence performance comparisons of PID, MRAC, and PID + MRAC hybrid controller

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Abstract

This study proposes a hybrid controller by combining a proportional-integral-derivative (PID) control and a model reference adaptive control (MRAC), which named as PID + MRAC controller. The convergence performances of the PID control, MRAC, and hybrid PID + MRAC are also compared. Through the simulation in Matlab, the results show that the convergence speed and performance of the MRAC and the PID + MRAC controller are better than those of the PID controller. In addition, the convergence performance of the hybrid control is better than that of the MRAC control.

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Authors and Affiliations

  1. Department of Mechanical Engineering, York University, Toronto, M3J 1P3, Canada

    Dan Zhang

  2. Department of Automotive, Mechanical, and Manufacturing Engineering, University of Ontario Institute of Technology, Oshawa, L1H 7K4, Canada

    Bin Wei

Authors
  1. Dan Zhang
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  2. Bin Wei
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Correspondence to Dan Zhang.

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Zhang, D., Wei, B. Convergence performance comparisons of PID, MRAC, and PID + MRAC hybrid controller. Front. Mech. Eng. 11, 213–217 (2016). https://doi.org/10.1007/s11465-016-0386-x

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  • DOI: https://doi.org/10.1007/s11465-016-0386-x

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