Dear Colleagues ; I am interested in studying adaptive control and i need to answers some questions they are as follows:
*Who which gives the good performance between a direct or indirect MRAC?
*Can i apply the MRAC if the system has disturbance ?
*Is MRAC robust control ?
*What is a relationship between the a parameter estimation of the system and MRAC?.
Merely for theory, I reminder that the proof of stability of system, when using MRAC, imply hiperstabilty theory of Vasile Mihai POPOV
*Who which gives the good performance between a direct or indirect MRAC?
Direct adaptive control (DAC) schemes perform better. Theoretically the stability proofs of DAC closed-loop system are less complex. These loop are robust to the disturbances.
*Can i apply the MRAC if the system has disturbance ?
Yes.
*Is MRAC robust control ?
You can develop robust adaptive controllers.
*What is a relationship between the a parameter estimation of the system and MRAC?. When you directly estimate the parameters of the controller, such loop are known as direct adaptive control schemes. When the controller parameters are designed based of the plant parameter estimation, schemes is called indirect.
MRAC can cope with time-invariant (or slow-time-varying) parametric uncertainties. In that regard, you can consider it to be somewhat robust although I prefer to call it intelligent. MRAC can cope with bounded disturbance if you modify it with leakage modification, projection, etc. MRAC combines system ID and control. For direct MRAC, it directly estimates the control parameters (via certainty equvalence). On the other hand, the system parameters are estimated in the indirect scheme.
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