MIT rule

MIT RULE

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 MIT rule

Concept
ymodel
Model

Controller Parameters Adjustment

Mechanism

uc
u yplant
Controller Plant

 Design controller to drive plant response to mimic

ideal response (error = yplant-ymodel => 0)
 Designer chooses: reference model, controller
structure, and tuning gains for adjustment
mechanism

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 MIT rule

MIT Rule

 Tracking error: e  y plant  ymodel

1 2
 Form cost function: J ( )  e ( )
sensitivity
derivative
2
d J e
 Update rule:    e
dt  
 Change in  is proportional to negative gradient
of J

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 MIT rule

MIT Rule
 Can choose different cost functions
 EX:
J ( )  e( )
d e
  sign (e)
dt 
 1, e  0

where sign (e)   0, e  0
 1, e  0

 From cost function and MIT rule, control law can be
formed
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 MIT rule

MIT Rule
 EX: Adaptation of feedforward gain

Reference Model

ymodel
Gm ( s )  koG ( s )

Adjustment Mechanism
-
θ 
Π
s +
Plant

uc u yplant
Π G p (s)  k G (s)

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 MIT rule

MIT Rule
Y ( s)
 For system  kG( s) where k is unknown
U ( s)
Y (s)
 Goal: Make it look like  koG ( s)
U c (s)
using plant Gm ( s )  koG ( s ) (note, plant model is scalar
multiplied by plant)

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 MIT rule

MIT Rule
 Choose cost function:
1 2 d e
J ( )  e ( ) 
  e
2 dt 
 Write equation for error:
e  y  ym  kGU  GmU c  kGU c  k oG U c

 Calculate sensitivity derivative:

e k
 kGUc  ym
 ko

 Apply MIT rule: d k

   ' y m e   y m e
dt ko

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 MIT rule

MIT Rule
 Gives block diagram:
Reference Model

ymodel
Gm ( s )  koG ( s )

Adjustment Mechanism
-
θ 
s
Plant
 Π
+

uc u yplant
Π G p (s)  k G (s)

 considered tuning parameter

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 MIT rule

MIT Rule

 NOTE: MIT rule does not guarantee error

convergence or stability

  usually kept small

 Tuning
 crucial to adaptation rate and stability.

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MIT rule

MRAC of Pendulum

 System
J  c  mgdc sin   d1  T

 (s)
d2
d1
dc d1
 2
T ( s ) Js  cs  mgdc

T
 (s) 1.89
 2
T ( s ) s  0.0389 s  10.77

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MIT rule

MRAC of Pendulum

 Controller will take form:

ymodel
Model

Controller Parameters Adjustment

Mechanism

uc
u 1.89 yplant
Controller s  0.0389 s  10.77
2

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MIT rule

MRAC of Pendulum

 Following process as before, write equation for

error, cost function, and update rule:

e  y plant  ymodel
1 2
J ( )  e ( ) sensitivity
derivative
2
d J e
   e
dt  
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 MIT rule

MRAC of Pendulum

 Assuming controller takes the form:

u  1uc   2 y plant
e  y plant  ymodel  G p u  Gmuc

1uc   2 y plant 
 1.89 
y plant  G p u   2
 s  0.0389s  10.77 
1.891
y plant  2 uc
s  0.0389s  10.77  1.89 2
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MIT rule

MRAC of Pendulum
1.891
e 2 uc  Gmuc
s  0.0389 s  10.77  1.89 2
e 1.89
 2 uc
1 s  0.0389 s  10.77  1.89 2
e 1.89 2 1
 uc
 2 
s  0.0389 s  10.77  1.89 2
2

2

1.891
 2 y plant
s  0.0389 s  10.77  1.89 2
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 MIT rule

MRAC of Pendulum

 If reference model is close to plant, can

approximate:

s  0.0389s  10.77  1.89 2  s  a1m s  a0 m

2 2

e a1m s  a0 m
 2 uc
1 s  a1m s  a0 m
e a1m s  a0 m
 2 y plant
 2 s  a1m s  a0 m

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MIT rule

MRAC of Pendulum

 From MIT rule, update rules are then:

d1 e  a1m s  a0 m 
  e    2 uc e
dt 1  s  a1m s  a0 m 
d 2 e  a1m s  a0 m 
  e    2 y plant e
dt  2  s  a1m s  a0 m 

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 MIT rule

MRAC of Pendulum
 Block Diagram
Reference Model

bm ymodel
s  a1m s  a0 m
2

-
uc + 1.89 yplant +
Π
s 2  0.0389 s  10.77
-
θ1 Plant e
Π
 θ2 
s s
a1m s  a0 m a1m s  a0 m
s  a1m s  a0 m
2 Π Π s  a1m s  a0 m
2

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