Robust adaptive control of high precision flight simulator

A robust model reference adaptive control algorithm based on Lyapunov' direct method is presented for high precision DC servo system. By tuning of the gain coefficients and robust term, the algorithm is able to maintain robustness under parametric uncertainty and compensate for unknown friction. Lyapunov's direct method is used to prove the global convergence of the tracking error in the presence of parametric uncertainty and unknown friction. Computer simulation applied to a high precision flight simulator demonstrates the effectiveness and robustness of the proposed algorithm.