Improved design scheme of MRAC for pneumatic servo system with additive external forces

摘要

An improved design scheme of a model reference adaptive control (MRAC) for a pneumatic servo system with additive external forces is presented. In this design scheme, the difference process for the identification signals is adopted in the identification mechanism for elimination of the influence of the constant disturbance caused by the additive external forces. Furthermore, the controller of this design scheme is constructed with a compensator for overcoming the influence of the disturbance. As a result, the satisfactory control performance can be achieved.