Model Reference Adaptive Control System Including Compensator for Unknown Deterministic Disturbances

Abstract

The present paper gives a scheme for compensating unknown deterministic disturbances in the continuous-time model reference adaptive control systems. The disturbaces cause the variations in tuned parameters of the controller as well as the output errors between the reference outputs and system outputs. The proposed adaptive control system consists of two feedback loops: one performs the model-matching adaptively and the other includes an error feedback controller which can compensate the disturbances, uncertainty in initial conditions of the system and unexactness in the model-matching. It is shown that even if the error feedback controller is employed the condition for the model-matching and the asymptotic stability of the adaptive system can be preserved. Finally, we present the effectiveness of the proposed configuration in numerical simulation results.