DESIGN OF A MODEL REFERENCE ADAPTIVE PID CONTROLLER FOR DC MOTOR POSITION CONTROL: COMPARED WITH PID AND FUZZY CONTROLLERS

Abstract

Sometimes conventional feedback controllers may not perform well due to changes in environmental conditions, changes in process dynamics that occur over time and changes in characteristics of disturbances. To overcome these problems, adaptive control methods have been developed. In this regard, a Model Reference Adaptive PID Controller (MRAPIDC) is designed using the MIT rule for position control of the DC motor in this study. At the same time, this control method is implemented using a low cost STM32F4 application development kit with Matlab-Simulink supported Waijung block set and compared with PID and fuzzy logic control methods. The results obtained with/without measurement noise disturbance under unit step and sinusoidal inputs are presented.