Model Reference Adaptive Control of Pneumatics Artificial Muscle

The paper deals with description of design of a model reference adaptive controller for a pneumatics artificial muscle. The controller is based on the classical MIT rule. The equations of the control law are derived from the differential equation of the dynamic real pneumatic system. The equation was obtained by identification. The method and selected results of identification are also mentioned. Derived algorithm was implemented in LabVIEW and its functionality and correctness was tested. Results of implementation and testing are mentioned in the end of the paper.