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Adaptive internal model for disturbance rejection and control

Adaptive internal model for disturbance rejection and control

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A new algorithm which extracts the disturbance model from a minimal model having a different input signal is given. The minimal model is used for adaptive pole placement incorporating the internal model principle. The closed-loop system is shown to reject the disturbances asymptotically. A stability analysis with persistency of excitation conditions towards convergence analysis of the proposed algorithm is also given. A number of simulated examples are given to demonstrate the performance of the algorithm.

References

    1. 1)
      • Elliot, H., Hill, D.J., Goodwin, G.C.: `Adaptive implementation of the internal model principle: stability and robustness', EE8538, Technical Report, 1985.
    2. 2)
      • H. Elliott , R. Christi , M. Das . Global stability of adaptive pole placement algorithms. IEEE Trans. Autom. Control , 4 , 348 - 356
    3. 3)
      • G.C. Goodwin , E.K. Teoh . Persistency of excitation in the presence of possibly unsounded signals. IEEE Trans. Autom. Control , 6 , 595 - 597
    4. 4)
      • Palaniswami, M.: `Robust adaptive control algorithms', , PhD thesis, University of Newcastle, NSW, Australia.
    5. 5)
      • Rohrs, C., Valavani, L., Athans, M., Stein, G.: `Robustness of adaptive control algorithms in the presence of unmodelled dynamics', 21st CDC, 1982, Orlando.
    6. 6)
      • G.C. Goodwin , K.S. Sin . (1984) , Adaptive filtering, prediction and control.
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