Companion resources to "Adaptive Control Basics: What is Model Reference Adaptive Control?"

Reference 8 resources
Last Edited: 10/27/2023

These are the resources that are referenced throughout the MATLAB Tech Talk video I made called "Adaptive Control Basics: What is Model Reference Adaptive Control?"

Here is the MATLAB Tech Talk video on MRAC. If you've already seen the video and are just looking for the references that I used to make it then keep on scrolling!

17 min
Beginner
Video
Theory

Use an adaptive control method called model reference adaptive control (MRAC). This controller can adapt in real time to variations and uncertainty in the system that is being controlled...

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The block diagram in this documentation page was the inspiration for the MRAC block diagram in the video. Also, even though it doesn't go step-by-step through the mathematics, this page is a great reference for people trying to understand the equations of MRAC.

This is the MATLAB/Simulink example that was used in the video. If you want to duplicate the results, just run the default example. I think it would also be instructive to change some of the parameters (like the number of radial basis function kernels) and see how it impacts the result.

This example wasn't used in the video but it's another good use of MRAC if you are looking to play around with a different system.

Dr. Tansel Yucelen does a great job in this video walking through the mathematics of MRAC in a methodical way.  This is one of the resources I mentioned where you can get a good overview of the Lyapunov rule.

Model Reference Adaptive Control Fundamentals (Dr. Tansel Yucelen)

91 min
Beginner
Video
Theory

Forum on Robotics & Control Engineering (FoRCE, http://force.eng.usf.edu/) Seminar Series: "Model Reference Adaptive Control Fundamentals" (Dr. Tansel Yucelen)

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I often need to hear the same explanation from two different people before it sticks in my mind.  This second video by Dr. Shubhendu Bhasin is another great resource that explains the mathematics of MRAC.