A Design Method of Discrete Time MRACS for Nonminimum Phase System and Its Application to Position Control of Underwater Pendulum

Abstract

This paper is concerned with a design of a Model Reference Adaptive Control System (MRACS) for a nonminimum phase system and its application to a position control of an underwater pendulum. The proposed MRACS consists of series and parallel compensators which compensate unstable zeros and a pole placement controller. The MRACS guarantees the stability and the convergency of the adaptive system. In order to verify the validity of the method, we apply it to a position control of an underwater pendulum with an undershooting phenomenon. Experimental results show the high performance of the constructed MRACS and the effectiveness of the proposed method.