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It is required to adapt to the change of the dynamic characteristics in real-time so that robotics systems can achieve high-speed and high-accuracy motion. In the model reference adaptive control schemes (MRAC), a model with short time-constant must be chosen to realize fast response. However, it takes a long time to adapt to the model. Thus, a new approach for MRAC was proposed. In order to improve the transient behavior, the main idea of the new algorithm is the introduction of the state feedback to the model, and the availability was verified on the first-order systems. In this paper, the proposed methodology is extended to the second-order systems. Simulations show that the efficiency of this proposed method was verified.