An intuitive design for the Dual Mode Adaptive Robust Controller based on indirect control

In this paper it is proposed an indirect approach to the Dual Mode Adaptive Robust Controller (DMARC), which combines the typical transient and robustness properties of Variable Structure Systems, with a smooth control signal in steady-state, typical of conventional Adaptive Controllers, as Model Reference Adaptive Controller (MRAC). The aim of this indirect version, here named Indirect Dual Mode Adaptive Robust Controller (IDMARC), is to provide a more intuitive controller design, based on physical plant parameters, as resistances, inertia moments, capacitances, etc maintaining DMARC properties. In this paper, it will be presented a stability analysis for the proposed controller and simulations to an unstable second order plant.