Interlaced direct adaptive regulation scheme applied to a benchmark problem

An adaptive regulation scheme using the Internal Model Principle and an IIR Youla-Kučera controller parametrization is proposed for the suppression of multiple unknown and time varying narrow band disturbances. This development has been motivated on one hand by the need of simplifying the design of the central controller for direct adaptive regulation schemes using the Internal Model Principle and FIR Youla-Kučera controller parametrization and on the other hand by the high computation load in indirect adaptive regulation schemes based on the shaping of the output sensitivity functions using band stop filters. Real time results and comparison with previous approaches used for the EJC International benchmark on adaptive regulation[10] will be provided.