Model Reference Adaptive Control of a Spherical Tank

Background: The objective is to track the reference model and to develop a control scheme which forces the plant dynamics to follow the dynamics of the reference model. The controller so designed forces the error between the plant and the reference states to zero as time tends to infinity and ensuring that the plant output following the reference model output faithfully even in the presence of unmodelled dynamics or disturbances in the actual plant. The servomechanism is also discussed where the system has to track the reference signal in the presence of disturbances for various feedforward Gains. In this paper the spherical tank is taken as the model of the actual plant and using MIT Rule and Lyapunov Approach where the system is adapted.