Design of MRAC and Modified MRAC for the Turntable

This paper analyzes and compares the model reference adaptive control (MRAC) and modified MRAC for turntables. The conventional MRAC is aimed at the first-order system for two-variable parameter adjustment. Most of plants are second-order systems, including turntables. The tracking performance of conventional MRAC applied to the second-order system is not ideal. Here, the MRAC is extended from the first order to the second order, and the control law of the MRAC for second-order system is given. The Modified MRAC is designed by a combination of MRAC and PID controller. It improves dynamic performance of the system. Simulation of the MRAC and modified MRAC is done in MATLAB Simulink environment. Different adaptive gains were selected for the MRAC for analysis and comparison. Analysis and comparison of the interference of the MRAC and the modified MRAC. It is found that the MRAC for second-order system can make the second-order system track the reference model and the performance of the modified MRAC is better. This paper has carried out a detailed analysis and comparison of the MRAC and modified MRAC for second-order system based on MIT rule.