نوع مقاله : پژوهشی اصیل
موضوعات
عنوان مقاله English
This article presents the design of an adaptive Proportional-Integral-Derivative (PID) controller for a Mass-Spring-Damper mechanical system. The modeling of the system is conducted using Newton's second law, from which the transfer function is derived. Given the uncertainties associated with the system parameters, an adaptive method based on a reference model is employed to adjust the controller coefficients. The adaptation laws are formulated based on the MIT rule. The results from simulations and applications of the designed controller demonstrate its effectiveness in tracking the reference input. Under both nominal conditions and in the presence of uncertainties, the system output follows the reference input without steady-state error and at an appropriate speed
