A New Adaptive Disturbance/Uncertainty Estimator Based Control Scheme For LTI Systems

This paper introduces a machine learning assisted disturbance/uncertainty estimator based control scheme. The aim of the proposed method is to update the nominal model directly used by the conventional disturbance observer based control architecture and approximate it to the perturbed/uncertain system using machine learning approaches. This enhances the disturbance rejection performance of the system remarkably. The performance deterioration capacity of lumped disturbances, which are the mixed effect of disturbances entering through the control channels and modeling uncertainties, are decomposed in our approach and handled separately. For this study, harmonic disturbance model and constant unstructured uncertainty model are considered, and
$\epsilon $
-Support Vector Regression approach is used together with an online adaptation algorithm. A numerical example is given to demonstrate the merits and effectiveness of the proposed approach. Simulation results show that the proposed method outperforms the conventional disturbance/uncertainty estimator based control architecture by increasing disturbance estimation performance of the system.