Design and implementation of MRAC and modified MRAC technique for inverted pendulum

Abstract

This paper is concerned with the combination of model reference adaptive control (MRAC) and PID. Incorporating application for inverted pendulum system, subjected to it finds the analogy with various control system applications like robotic arm, satellite launching system etc. The main aim is to find further improvement of traditional MRAC method and to provide more accurate control to the inverted pendulum and to minimize drawbacks of the traditional MRAC method. This is examined when combining the MRAC method with the PID control. The performance of the application system is examined from the simulation results in MATLAB/SIMULINK. For showing its effectiveness its simulated results are compared with the traditional control strategies like PID and MRAC.