Adaptive disturbance rejection

Using averaging analysis a novel direct adaptive algorithm applied to a linear plant is analyzed. The prior knowledge includes a nominal model and a stabilizing controller for the plant. It is shown that the stabilizing controller can be augmented with an adaptive controller solely aimed at disturbance rejection/trajectory following. The overall scheme retains the stability properties of the stabilizing (fixed) controller and improves its performance with respect to disturbance rejection and trajectory following.<
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