Robust Model Reference Adaptive PID Controller: Development and Application on Grid-tied Systems

Alexandre S. Lucena; Cairo T. G. B. Oliveira; Vitória de S. Fabricio; Wagner B. da Silveira; Bernardo Andres; Paulo J. D. de O. Evald

doi:10.18618/REP.e202636

Authors

Alexandre S. Lucena Federal University of Pelotas
Cairo T. G. B. Oliveira Federal University of Pelotas https://orcid.org/0009-0003-7224-1321
Vitória de S. Fabricio Federal University of Pelotas https://orcid.org/0009-0003-8775-7638
Wagner B. da Silveira Federal University of Santa Maria
Bernardo Andres Federal University of Pelotas https://orcid.org/0000-0002-3271-9525
Paulo J. D. de O. Evald Federal University of Pelotas

DOI:

https://doi.org/10.18618/REP.e202636

Keywords:

Inverters, LCL Filters, Renewable Energy, RMRAC-based Controller

Abstract

This work presents a novel adaptive control structure named robust model reference adaptive proportional integral derivative controller. The controller does not require precise information about system parameters, and requires only the system output feedback to continuously update its gains. Experimental results of this controller regulating the three-phase grid-injected currents of a voltage source inverter with an LCL filter under uncertain grid conditions are presented. The controller demonstrated robustness, feasibility for application on grid-tied power systems, and fast current tracking. The total harmonic distortion of the grid-injected currents is 3.23%, 3.78%, and 3.41% in phase A, B, and C, respectively.

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Author Biographies

Alexandre S. Lucena, Federal University of Pelotas

received the B.Sc. in Control and Automation Engineering at Federal University of Pelotas (UFPel) in 2026. He is a member of the Intelligent System and Control Group (ISCG/UFPel).

Cairo T. G. B. Oliveira, Federal University of Pelotas

is currently a student in Control and Automation Engineering at UFPel and a member of the ISGC/UFPel.

Vitória de S. Fabricio, Federal University of Pelotas

received the B.Sc. in Control and Automation Engineering at UFPel in 2026. She is a member of ISCG/UFPel.

Wagner B. da Silveira, Federal University of Santa Maria

is a Professor at Federal University of Rio Grande do Sul and a member of ISCG/UFPel and GEPOC/UFSM.

Bernardo Andres, Federal University of Pelotas

is a Professor at UFPel and a member of ISCG/UFPel.

Paulo J. D. de O. Evald, Federal University of Pelotas

is a Professor at the UFPel and leader of the ISCG/UFPel, GEPOC/UFSM, INEP/UFSC and INCT-EPTech.

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