Comparison of model reference adaptive control and cascade PID control for ASTank2
This paper presents Model Reference Adaptive Control (MRAC) compared to Cascade PID control in order to evaluate their performances. The cascade control has an outer loop for the level control and an inner loop for flow control that can make the response faster. There the linearization technique is applied to obtain a new linear model. MRAC is designed based on Lyapunov theory and Barbalet's lemma that will make the system stable and obtain convergences. The reference model can be selected as the third order system with relative degree two to satisfy rise time, settling time, peak time, and overshoot requirements. General adaptive control laws are developed for tuning three gains based on the reference model. These control gains cover level tracking performance. MRAC also help to remove dynamic uncertainties and modeling errors. Simulation results on Matlab/Simulink indicate that the MRAC can improve the control performances compared to those of the classical PID control effectively.