ADAPTIVE INTERNAL MODEL FOR DISTURBANCE REJECTION AND CONTROL

A new algorithm which extracts the disturbance model from a minimal mo del having a different input signal is given. The minimal model is use d for adaptive pole placement incorporating the internal model princip le. The closed-loop system is shown to reject the disturbances asympto tically. A stability analysis with persistency of excitation condition s towards convergence analysis of the proposed algorithm is also given . A number of simulated examples are given to demonstrate the performa nce of the algorithm.