Design of analog MRAS controllers using operational amplifiers for motion control systems

This paper proposes a new procedure for designing a direct analog adaptive controller that is based on Model Reference Adaptive Systems (MRAS) using Operational amplifiers (Op-amps). The adaptive controller in s-domain (complex frequency domain) is firstly designed using Lyapunov theory. It is quite simple, robust and converges quickly. The controller is then simulated and adjusted using Matlab/Simulink software. Next, the plant and the controller in s-domain will be converted to equivalent corresponding continuous electronic circuits and continued to simulate using Multisim software before implementing to the real setup. With the same input reference the simulation results of the adaptive controlled system in s-domain, also in equivalent analog electronic circuits, and experimental results in the real setup are almost the same.