Abstract
The constant adaptation gain algorithm has been often applied to the MRAC of electro-hydraulic servo system. This paper describes the application of the MRAC with the constant trace algorithm to a pneumatic servo system. The response of the MRAC of the plant without feedback is compared with that of the MRAC of the plant with feedback, whose response was rather smooth and stable. It is cleared that the power spectra of control inputs upof both MRAC systems, obtained by FFT, differ remarkably. The effectiveness of the constant trace algorithm in the MRAC was shown by the experiments of the sudden changes of the feedback gain of the plant during the control. It is shown that the limiter of the control input is very effective to stabilize the MRACS where the response speed of a reference model is much faster than that of the plant.
