Anti-Chaos control of a servo system using nonlinear model reference adaptive control

This work presents a method for anti-chaos control of a servo system affected by parametric uncertainty and constant disturbances. It is based on Nonlinear Model Reference Adaptive Control where the reference model corresponds to a chaotic Duffing oscillator. Only upper and lower bounds on the servo system input gain are assumed known beforehand. It is shown that the solutions of the closed-loop system are Uniformly Ultimately Bounded. Moreover, the chaotic behaviour of the servo system position is verified through the Largest Lyapunov Exponent. The proposed control methodology is tested through experiments.