Adaptive Control of Persistent Disturbance based on Direct Model Reference Adaptive Control

摘要

The ignorance of the system's internal structure and critical parameter values suggest an adaptive control scheme; however persistent disturbances will reduce the benefits of adaptive control unless the controller can be designed to reduce such disturbances. We present a scheme which cause the plant output to follow a reference model and reduces persistent disturbances. Simulation on a planar truss database is use to validate this scheme.