Adaptive Control Design

Design controllers that can adapt to changing process information
Since R2021a

When a control system contains uncertainties that change over time, such as unmodeled system dynamics and disturbances, an adaptive controller can compensate for the changing process information by adjusting its parameters in real time. By doing so, such a controller can achieve desired reference tracking despite the uncertainties in the plant dynamics.

Simulink^® Control Design™ software provides several Simulink blocks for the following real-time adaptive control methods.

Extremum Seeking Control — Model-free adaptation to maximize an objective function derived from the control system
Model Reference Adaptive Control — Adaptation to track the output of a known reference model
ESO-Based Disturbance Compensation — Model-free adaptation to reject internal and external disturbances of a plant
Iterative Learning Control — Model-based and model-free adaptation to improve performance of repetitive control tasks.
Sliding Mode Control — Maintain system states on a sliding surface to provide high precision and robust control in presence of uncertainties and disturbances.

Blocks

Extremum Seeking Control	Compute controller parameters in real time by maximizing objective function
Model Reference Adaptive Control	Compute control actions to make controlled system track reference model (Since R2021b)
Active Disturbance Rejection Control	Design controller for plants with unknown dynamics and disturbances (Since R2022b)
Extended State Observer	Estimate states and disturbances of a system (Since R2024a)
Disturbance Compensator	Modify control actions to compensate for unknown dynamics and disturbances (Since R2024a)
Iterative Learning Control	Design iterative learning controller for repetitive control tasks (Since R2024b)
Sliding Mode Controller (Reaching Law)	Design sliding mode controller based on reaching law (Since R2024b)

Topics

Extremum Seeking Control

Extremum Seeking Control
Update controller parameters to maximize an objective function in the presence of unknown system dynamics.
Extremum Seeking Control for Reference Model Tracking of Uncertain Systems
Track a reference plant model by adapting feedforward and feedback gains for an uncertain dynamic system.
Anti-Lock Braking Using Extremum Seeking Control
Design an extremum seeking controller that maximizes the friction coefficient of an ABS system to achieve the shortest stopping distance.

Model Reference Adaptive Control

Model Reference Adaptive Control
Compute control actions to make an uncertain controlled system track the behavior of a given reference plant model.
Model Reference Adaptive Control of Satellite Spin
Design an MRAC controller that adapts plant uncertainty model parameters to achieve performance that matches an ideal reference model.
Indirect Model Reference Adaptive Control of First-Order System
Design an indirect MRAC controller that estimates the properties of an unknown first-order system.
Indirect MRAC Control of Mass-Spring-Damper System
Design an indirect MRAC controller that estimates the parameters of an unknown MIMO system.

Active Disturbance Rejection Control

Active Disturbance Rejection Control
Design a disturbance rejection controller for plants with unknown dynamics and disturbances.
Design Active Disturbance Rejection Control for Water-Tank System
Design ADRC for a water-tank model and compare performance against a gain-scheduled PID controller.
Design Active Disturbance Rejection Control for BLDC Speed Control Using PWM
Design ADRC for a brushless DC motor speed controller using pulse width modulation.
Design ADRC for Multi-Input Multi-Output Plant
Design ADRC for a pilot-scale distillation column MIMO model and compare performance against a model predictive controller. (Since R2023b)
Design Active Disturbance Rejection Control for SEPIC Converter
Design ADRC for a SEPIC converter model and compare performance against a PID controller tuned on a linearized model. (Since R2024a)

Disturbance Compensation

Control Design and Disturbance Compensation Using Extended State Observers
Estimate and compensate for disturbances and unknown dynamics in linear time-invariant or linear time-varying systems. (Since R2024a)
Apply Extended State Observer for Reference Tracking of DC Motor
Improve the disturbance rejection performance of a PID controller using the Extended State Observer block. (Since R2024a)
Compensate for Disturbances in Spring-Mass-Damper System
Compensate for disturbances in a spring-mass-damper system using the Disturbance Compensator block. (Since R2024a)

Sliding Mode Control

Sliding Mode Control
Design sliding mode control based on reaching law.
Sliding Mode Control Design for Mass-Spring-Damper System
A sliding mode controller defines a sliding surface that the system state converges to and remains on. (Since R2024b)
Sliding Mode Control Design for a Robotic Manipulator
Create a sliding mode controller for a robotic manipulator with two actuated joints. (Since R2024b)

Iterative Learning Control

Iterative Learning Control
Design iterative learning control for a repetitive control task.
Iterative Learning Control of a Single-Input Single-Output System
Implement an ILC controller to improve closed-loop trajectory tracking performance. (Since R2024b)
Model based Iterative Learning Control of Multi-Input Multi-Output system
Implement model-based ILC controller to improve closed-loop trajectory tracking performance of a MIMO system. (Since R2024b)

Related Information

Featured Examples

Adaptive Cruise Control Using Extremum Seeking Control

Design an extremum seeking controller to adjust controller gains for an adaptive cruise control system.

Open Live Script

Model Reference Adaptive Control of Aircraft Undergoing Wing Rock

Design an MRAC controller that adapts disturbance model parameters to achieve performance matching an ideal reference model.

Open Live Script

Quadrotor Control Using Model Reference Adaptive Control

Control a quadrotor vehicle performing way-point guidance using model reference adaptive control.

Since R2023b
Open Live Script

Design Active Disturbance Rejection Control for Boost Converter

Design ADRC for a boost converter model and compare performance against a PID controller tuned on a linearized model.

Open Live Script

New

Deploy Controller for SEPIC Converter for PIL Testing

Set up processor in the loop (PIL) testing and profiling of an active disturbance rejection controller for a SEPIC converter.

Since R2024b
Open Live Script