Abstract
This paper is concerned with the problem of designing model reference adaptive control systems (MRACS) for single-input single-output linear discrete time systems having deterministic disturbances such as sine waves, biases, ramp waves, etc. An exponential type polynomial disturbance model is introduced as an approximation of disturbance. The MRACS is designed for the composite system which consists of the plant and the disturbance model. The composite system parameters are estimated by using an adaptive observer with exponential rate of convergence and the adaptive input is determined based on these parameters so that the output tracking error tend to zero exponentially. It is shown that the algorithms will ensure that the system inputs and outputs remain bounded for all time.
The effect of the introduction of disturbance model is confirmed experimentally by applying he proposed method to the MRAC problem of a second-order thermal system.
