Modified Model Reference Adaptive Controller for a Nonlinear SISO System with External Disturbance and Input Constraint

This paper proposes on a modified model reference adaptive controller for a nonlinear single input-single output system with uncertain modeling, external disturbance, measurement noise and input constraint. The modified model reference adaptive controller not only can be applied for an uncertain modeling system but also can guarantee a good tracking performance in transient and steady-state phases. Applying dead-zone modification can avoid the drift phenomenon of the estimate controller parameters due to the integration procedure in the presence of disturbance external and measurement noise. As well, an auxiliary system is integrated into the control system to compensate the dynamic error caused by the adverse effect of the input constraint. The experimental results on a servomechanism using the proposed controller can be brought out to verify the performance and the effectiveness.