Controle adaptativo indireto por modelo de referência e estrutura variável

Abstract

An indirect approach to the variable structure model reference adaptive control with robustness to parametric uncertainties and disturbances as well as fast transient is proposed, being therefore an unedited work. In the direct approach, the switching laws are designed to the controller parameters. On the other hand, in the indirect approach, the switching laws are designed to the plant parameters, which present uncertainties that can be known easier than in the direct approach, since they are related with physical parameters, such as inertia moments, etc., being its main advantage the possibility to get an easier design. The model reference adaptive control is reviewed, in both approaches (direct and indirect), as well as the variable structure model reference adaptive control, in its direct approach. For a better understanding of the proposed technique is presented an introduction to the variable structure systems. For each mentioned technique, stability proofs and simulations results are shown. For the particular proposed method was also carried out an experimental test on a three-phase induction motor.