Model reference adaptive controller for biaxial shaking table based on the slider-crank mechanism

This work shows the validation of a model reference adaptive controller with proportional-derivative control law MRAC-PD. This model is designed as a control system of a shaking table with two axis, based on a slider-crank mechanism, and it is used to generate earthquakes on scale models of civilian structures. The MRAC-PD design was based on the MIT optimization rule as adaptation mechanism for the proportional and derivative parameters. The results are better than those obtained with MRAC controllers with one and two proportional adaptation parameters, adaptive controllers with Smith predictor to compensate the delay errors introduced by the systems and a Fuzzy controller. The validation of the control systems are implemented on a 32 bits hardware platform from Microchip and it is remotely accessed through the national RENATA network.