Redesign and Simulation of Model Reference Robust Control

A new model reference robust control(MRRC) scheme was proposed.The earlier design method,the tracking performance was shown,in general,unacceptable.Then,by transforming the error equation,a new Lyapunov function was introduced and a new control law with backstepping method was designed.It can be proved that by using the scheme,even with the existence of plant uncertainty,unmodeled dynamics and non-linear disturbance,both the tracking performance and the control effort can be improved significantly.Finally,the new MRRC algorithm was applied to a pitch-attitude-hold autopilot design.In contrast to the earlier MRRC method and the classical zero-pole placement method,the new algorithm achieves the best performance.