Disturbance rejection using self-tuning ARMARKOV adaptive control with simultaneous identification

In this paper we present a numerical and experimental investigation of the properties of the ARMARKOV adaptive control (AAC) algorithm with simultaneous identification. The underlying model structure of AAC is the ARMARKOV model, which is a structurally constrained ARMA model with explicit impulse response (Markov) parameters. This algorithm requires a model of only the secondary path (control input to performance variable) transfer function which is identified online using the time-domain ARMARKOV/Toeplitz identification technique. For a 5-mode acoustic duct model, we present numerical as well as experimental results for single-tone, dual-tone, and broadband disturbance rejection. In the simulations and experiments we assume no knowledge of the disturbance signal.