Abstract
This paper deals with the design method of discrete time model reference adaptive control system for linear time invariant plant with unknown deterministic disturbances.
It is assumed that the disturbances are described by the polynomial function of time and/or the output of the stable autonomous system with known order and unknown coefficients.
In the proposed method, the effect of the disturbances are decoupled from the plant output by an adaptive controller with integrators which is designed for the non-minimal plant model.
In this paper, first, the non-minimal plant model which includes the dynamics of the disturbance described by the output of the stable autonomous system is derived and an adaptive controller with integrators is designed for the plant model. Next, the stability and the property of the proposed adaptive control system is discussed.
Finally, the result of computer simulation of the adaptive control system applied to a second order plant with both rampwise and sinusoidal disturbances is included to illustrate the effectiveness of the proposed method.
