Adaptive output feedback control with predictive feedforward input based on extended output estimator

In this paper, a two-degree-of-freedom adaptive output feedback control system design scheme with a predictive control input as feedforward control input and with an almost strictly positive real (ASPR) based adaptive output feedback control as feedback control is proposed. An extended output estimator for systems with uncertain disturbances will be proposed, and based on the obtained output estimator, a robust output predictor with respect to uncertain disturbances is designed for predictive feedforward control. The stability of the obtained control system is guaranteed via ASPR based adaptive output feedback. The effectiveness of the proposed adaptive predictive control will be confirmed through numerical simulations.