Adaptive Control System

#

#

$

! "

0

−5

−10

20

40

60

80

100

120

140

160

180

200

0

X2

2

0

−2

20

40

60

80

100

120

140

160

180

200

0

X3

10

5

0

20

40

60

80

100

120

140

160

180

200

0

Time (s)

U1

0

−5

−10

−15

−20

20

40

60

80

100

120

140

160

180

200

0

U2

50

40

30

20

10

0

20

40

60

80

100

120

140

160

180

200

0

Time (s)

$

# #

%

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Theta_1

Theta_2

4

1

3

0.5

2

0

1

−0.5

0

−1

−1

100

200

300

−1.5

100

200

300

0

0

Theta_3

Theta_4

1

3

0

2

−1

1

0

−2

−1

−3

−2

−4

100

200

300

−3

100

200

300

0

0

Tau_1

30

20

10

0

−10

−20

50

100

150

200

250

300

0

Tau_2

20

15

10

5

0

−5

−10

50

100

150

200

250

300

0

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