| This research work focuses on the implementation of direct model reference adaptive control (DMRAC) for a multi degree-of-freedom, mass-spring-damper system with varying plant parameters. Recent developments have shown that DMRAC is robust with respect to plant parameter variations and unmodeled dynamics. The mathematical model is derived using D'Alembert's principle and Newton's laws of motion. Then, the feedforward compensator for Direct Model Reference Adaptive Control is designed by using the algorithm proposed by Ozcelik and Kaufman. The DMRAC is implemented on the mass-spring-damper system with three degrees of freedom using Matlab/Simulink. The simulations are carried out and results are discussed and analyzed. Furthermore, DMRAC is practically implemented on a mass-spring-damper system, and the effectiveness and simplicity in the practical implementation of DMRAC is demonstrated. |
