Adaptive disturbance rejection using ARMARKOV/Toeplitz models

An adaptive disturbance rejection algorithm is developed for the standard control problem. The multiple input-multiple output (MIMO) system and controller are represented as ARMARKOV/Toeplitz models, and the parameter matrix of the compensator is updated online by means of a gradient algorithm. The algorithm requires minimal knowledge of the plant, specifically, the numerator of the ARMARKOV model of the transfer function from the control inputs to the performance variables is required. No knowledge about the spectrum of the disturbance is needed. Experimental results demonstrating tonal and broadband disturbance rejection in an acoustic duct are presented.