Multi-Input Multi-Output Direct Adaptive Control for a Distributed Parameter Flexible Rotating Arm

In this paper, a Multi-Input Multi-Output (MIMO) Model Reference Adaptive Control (MRAC)
scheme for a
exible rotating arm is developed. In order to construct a reference model to be
followed by this distributed parameter system, a nite element method is used to approximate
the behavior of the arm. An input error direct adaptive control algorithm is utilized as the
control approach to account for parameter uncertainty. Assuming the same approximation and
structure as the model for the actual system, the stability analysis of the proposed controller will
be straightforward. Simulation results are provided to illustrate the performance of the proposed
algorithm in the presence of disturbance and uncertainties. Also, the proposed algorithm results
are compared with those of a conventional PD controller.