A kind of robust adaptive controller

This paper studies a class of linear system with uncertainty of parameters and external time-varying input disturbances. A united real-time identification method is presented for estimating the parameters and external disturbances of the system at the same time without the model of disturbance. The disturbance is compensated online according to the results of identification. A dual adaptive controller is designed. This controller can rejected the effect of uncertainty of parameters and eliminates the bad phenomena of conventional adaptive control systems, such as "turn off", "windup" and "bursting", so the robustness of the adaptive control system is enhanced. Finally, the effectiveness of the method is proved by a simulation example.