@Article{, title={Design of L1 Adaptive Controller for Position Control of Permanent Magnet Linear Synchronous Motor (PMLSM)}, author={Akram Hashim Hameed and Mohammed Ali S. Mohammed and Amjad Jaleel Humaidi}, journal={IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING المجلة العراقية لهندسة الحاسبات والاتصالات والسيطرة والنظم}, volume={18}, number={2}, pages={39-52}, year={2018}, abstract={In the present work, the design of an L1 adaptive controller forposition control of a linear servo motor for X-Y table application has beendeveloped. The AC Permanent Magnet Linear Synchronous Servo Motor(PMLSM) is considered. A comparative study between L1 adaptive control andModel Reference Adaptive Control (MRAC) has been made. The effectiveness ofthe L1 adaptive controller against uncertain parameters is analyzed based onsimulated results. Robustness characteristics of both L1 adaptive controller andmodel reference adaptive controller to different input reference signals anddifferent structures of uncertainty have been evaluated. The L1-adaptivecontroller could ensure uniformly bounded transient and asymptotic trackingfor input and output signals. Simulations based on MATLAB of an x-y tablebased on PMLSM with time-varying friction and disturbance are presented toverify the theoretical findings. The simulation results within the environment ofMATLAB/SIMULINK showed that L1-adaptive controller could give bettertracking performance, dynamic and steady-state characteristics, than thatobtained from MRAC for considered types of input and for various structures ofuncertainties.

} }