Practical robust adaptive control: Benchmark example

A novel disturbance rejection solution for a benchmark mass-spring-damper (MSD) system is presented. The proposed design, adaptive mixing control (AMC,) is a deterministic multiple model adaptive control (MMAC) approach that mixes candidate controllers by monitoring real-time estimates of an unknown parameter. Monte Carlo simulations are conducted to compare the performance of the AMC scheme with a stochastic robust MMAC (RMMAC) scheme, as well as a nonadaptive mixed-mu compensator.