In this paper the Dual-Mode Adaptive Robust Controller (DMARC) is presented. The DMARC is a control strategy which interpolates the Model Reference Adaptive Control (MRAC) and the Variable Structure Model Reference Adaptive Control ( VS-MRAC). The main idea is to develop a robust controller to parametric uncertainties and external disturbances with good transient characteristics (fast response and small oscillations) as in a VS-MRAC and good steady-state characteristics (smooth control signal) as in a conventional MRAC.
Dual Mode Control; Adaptive Control; Variable Structure Systems
