Abstract
This paper presents a design method of the indirect model reference adaptive control (MRAC) system for the plant with deterministic disturbances, robust to the modelling errors due to unmodelled dynamics and observation noise. In the proposed method, the structure of controller is determined based on the internal model principle to reject the deterministic disturbance and its parameters are adjusted by using the estimates of plant parameters. Robustness to the modelling errors is ensured by the use of the adaptive law with dead zone and the fixed compensator of integral type. The adaptive law prevents the adjustable parameters from drifting and the fixed compensator improves the control performance deteriorated by the use of dead zone. Stability of the MRAC system is analyzed using the concept of _??_2δ norm and the Bellman-Gronwall lemma, based on the properties guaranteed by the adaptive law. Effectiveness of the proposed method is demonstrated by the simulation carried out for a plant with second order nominal part and a step disturbance.
