DESIGN & ANALYSIS OF MODEL REFERENCE ADAPTIVE PID CONTROLLER FOR REAL TIME APPLICATIONS

Abstract

Increasing demand of automatic system and robotics in process control industries, leads us to design the advanced controller for several plants, having nonlinearity and parameters uncertainty etc. However, conventional feedback controllers are unable to handle this type of system. To overcome this difficulty your controller must be adaptive in nature that can tolerate the uncertainty and nonlinearity using an automatic adjustment mechanism. In this thesis, we have designed a model reference adaptive PID (MRAPID) controller based on model reference adaptive control (MRAC) and MIT rule. The MRAPID controller typically consists of a linear time-invariant Proportional, Integral and Derivative (PID) controller with an adjustment mechanism which tunes the PID parameters in such a way that error between output of reference model and output of plant will be minimised. This error is called tracking error. In this thesis, mathematical analysis and design of MRAPID controller are - discussed. It is designed using modified PID controller, MRAC and MIT rule. The proposed algorithm is applied on magnetic levitation system in real time environment. - Simulation and experimental results shows the effectiveness of proposed controller.