Müllhaupt, PhilippeValentinotti, SergioSrinivasan, BalaBonvin, Dominique2010-12-242010-12-24201210.1002/acs.2292https://infoscience.epfl.ch/handle/20.500.14299/62512WOS:000312242300003A 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.Disturbance rejectionRST controlInternal model principleQ parametrizationYoula-Kucera parametrizationDirect adaptive controlUnmodeled dynamicstext::journal::journal article::research article