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This paper presents the design of the Two-Degree-of-Freedom (2DOF) based Model Reference Adaptive Control (MRAC) as a tracking control system for the Non-minimum Phase (NMP) system. Perfect set point tracking is possible by using a cascade-connected inverse and non-inverse transfer function model of the dynamic system. But this method is restricted to the minimum phase system only, whereas, NMP system produces unbounded output response using this inverse model technique. Though, adaptive inverse feed-forward control technique is an effective tracking control system, it also requires an inverse model of the system. To overcome this problem, a novel feed-forward MRAC scheme for the inverse NMP model and the State feedback controller of the non-inverse model has been proposed, and both the controller are decoupled in a 2DOF framework. The feed-forward control technique guaranteed the tracking performance using the Lyapunov stability theory, and the feedback counterpart enhances the steady-state performance of the NMP plant. The robustness of the asymptotic stability as well as tracking performance of the closed-loop NMP system has been ensured by the proposed 2DOF control based MRAC technique. The effectiveness of the proposed control structure initially has been verified by the MATLAB Simulink toolbox and, then the demand has been strengthened by the implementation of the same control logic in the real-time environment using analog simulation with Op-amp based hardware model.

Two-Degree-of-Freedom based Model Reference Adaptive Control of Non-minimum Phase System