Asymptotic Rejection of Non-Vanishing Disturbances Despite Plant-Model Mismatch

• Submitted to: Int. Journal of Adaptive Control and Signal Processing
• Publication date: 2011

A direct adaptive control methodology for the rejection of unmeasured non-vanishing disturbances is proposed. The approach uses the framework of polynomial RST controllers and relies on the internal model principle with additional degrees of freedom provided by the Q parametrization. The parameters of the Q polynomial are adapted using minimization of the closed-loop output error. Asymptotic disturbance rejection of unmeasured non-vanishing disturbances can be guaranteed despite plant-model mismatch, provided the closed-loop system remains stable. A simulation example illustrates the theoretical developments.

Keywords: Disturbance rejection ; RST control ; Internal model principle ; Q parametrization ; Youla-Kucera parametrization ; Direct adaptive control ; Unmodeled dynamics

Reference

• EPFL-ARTICLE-161959
• doi:NA

Record created on 2010-12-24, modified on 2012-03-21