Comparative Performance Study of Lyapunov Based MRAC Technique and MRAC Augmented with PID Controller for Speed Control of a DC motor

The speed control of Direct Current (DC) motor is one of the widely used industrial control due its specific characteristics. This paper discusses about the application of MRAC using Lyapunov rule and Model Reference Adaptive Control (MRAC) augmented with Proportional Integral Derivative (PID) method to control the speed of a DC motor system. Different values of adaptation gains are taken for comparative analysis. Simulation is done in MATLAB Simulink environment. A detail comparative performance has been stated with different MRAC strategies applied to the DC motor system.