LAUSR

A robust adaptive non-linear model based control schemes have been carried out in this work. The control strategy has been implemented on various benchmark non-linear processes. The servo performance of the proposed control schemes were found satisfactory. In order to improve regulatory performance, both model state(s) and parameter(s) have been estimated on-line sequentially with the help of a derivative free Kalman filter and the predicted values of model state(s) have been used to formulate proposed control law. The performances and superiority of the proposed control schemes have been discussed and compared with conventional adaptive PI control scheme. From the extensive simulation studies, it can be concluded that proposed control schemes implemented on the non-linear processes are having better performance and goodness over conventional adaptive PI control scheme. It was also observed that proposed control schemes are able to eliminate measurement noise and also having good robustness features.