Speed Control of a Rotary Servo-Base Unit: Lyapunov and Mit Rule Approaches

Keywords:
Lyapunov Rule, MIT Rule, DC Motor, Model Reference Adaptive Control (MRAC), Adaptation Gain

Abstract:
This paper presents a comparative study of two speed control techniques for a rotary servo-base unit using Lyapunov-based adaptive control and the MIT rule technique. The primary objective is to achieve precise and stable speed control and to analyze the influence of adaptation gain on the system performance. A mathematical model of the rotary system is analyzed, followed by the development of adaptive controllers based on the Lyapunov stability theory and the MIT rule. Choosing a suitable reference model is examined, and parameter adaptation laws are designed to optimize system performance. The impact of different adaptation gains on system response is evaluated through simulations in MATLAB/Simulink. Figures illustrating the evolution of adaptation parameters over time, as well as system response, are provided. Various performance criteria, settling time, overshoot, and different objective functions are used to compare the control approaches. The results highlight the advantages and limitations of each method. Recommendations for tuning adaptation parameters are provided to improve overall system performance.

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M. Vesović, V. Zarić, N. Perišić, R. Jovanović, “Speed Control of a Rotary Servo-Base Unit: Lyapunov and Mit Rule Approaches,” in Sinteza 2025 - International Scientific Conference on Information Technology, Computer Science, and Data Science, Belgrade, Singidunum University, Serbia, 2025, pp. 55-62. doi:10.15308/Sinteza-2025-55-62

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Vesović, M., Zarić, V., Perišić, N., Jovanović, R. (2025). Speed Control of a Rotary Servo-Base Unit: Lyapunov and Mit Rule Approaches. Paper presented at Sinteza 2025 - International Scientific Conference on Information Technology, Computer Science, and Data Science. doi:10.15308/Sinteza-2025-55-62

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