An integrated high-performance adaptive-control system with a linear actuator

A high-performance control system that consists of triple feedback loops and is used for controlling a linear actuator is presented. To achieve the performance goals of robustness and simplicity, the hysteretic-current control, integral-proportional velocity control, and model reference adaptive control (MRAC) techniques are adopted. The MRAC control scheme is implemented by using an Intel 80286-based computer system. This control system, which is a hybrid of analog and digital controllers, has the advantage of retaining the desired control performance in the presence of varying mechanical parameters. Experimental results show that the system possesses excellent adaptation capabilities as well as transient recovery under large load changes