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Design of MRAS-based adaptive control systems

In this paper, simple adaptive control schemes based on Model Reference Adaptive Systems (MRAS) algorithm are developed for the asymptotic output tracking problem with changing system parameters and disturbances under guaranteeing stability. The adaptive adjusting law is derived by using Lyapunov theory. The direct and indirect adaptive schemes are proposed that constantly adjust the gains in the controllers and/or observers. The adaptive algorithm that is shown in this study is quite simple, robust and converges quickly. Performances of the controlled systems are studied through simulation in Matlab/Simulink environment. The effectiveness of the methods is demonstrated by numerical simulations.