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Convergence performance comparisons of PID, MRAC, and PID+MRAC hybrid controller |
Dan ZHANG1,*( ),Bin WEI2 |
1. Department of Mechanical Engineering, York University, Toronto M3J 1P3, Canada
2. Department of Automotive, Mechanical, and Manufacturing Engineering, University of Ontario Institute of Technology, Oshawa L1H 7K4, Canada |
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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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| Keywords
proportional-integral-derivative (PID) control
model reference adaptive control
hybrid control
convergence speed
comparison
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Corresponding Author(s):
Dan ZHANG
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Online First Date: 23 May 2016
Issue Date: 29 June 2016
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