Model reference adaptive control of a nonsmooth dynamical system

L Yang, SA Neild, DJ Wagg, DW Virden

Research output: Contribution to journalArticle (Academic Journal)peer-review

7 Citations (Scopus)


In this paper a modified model reference adaptive control (MRAC) technique is presented which can be used to control systems with nonsmooth characteristics. Using unmodified MRAC on (noisy) nonsmooth systems leads to destabilization of the controller. A localized analysis is presented which shows that the mechanism behind this behavior is the presence of a time invariant zero eigenvalue in the system. The modified algorithm is designed to eliminate this zero eigenvalue, making all the system eigenvalues stable. Both the modified and unmodified strategies are applied to an experimental system with a nonsmooth deadzone characteristic. As expected the unmodified algorithm cannot control the system, whereas the modified algorithm gives stable robust control, which has significantly improved performance over linear fixed gain control.
Translated title of the contributionModel reference adaptive control of a nonsmooth dynamical system
Original languageEnglish
Pages (from-to)323 - 335
Number of pages22
JournalNonlinear Dynamics
Publication statusPublished - Nov 2006

Bibliographical note

Publisher: Springer Netherlands


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