Frequency adaptive control of a stable plant under unknown bounded disturbances (Q1883746)

A design algorithm is presented for the adaptive control of asymptotically stable plants operating under unknown bounded disturbances. The identification of the plant and of the closed-loop system relies on the usage of adequate harmonic test signals. The adaptation mechanism calculates the coefficients of the characteristic polynomial for the closed-loop system and compares their values with the coefficients of a reference (desired) polynomial. A modal controller, ensuring the convergence of the calculated coefficients toward the desired ones, governs the dynamics of the plant. The paper provides rigorous conditions for the convergence of the adaptation process. These conditions can be verified experimentally. A numerical example illustrates the applicability of the whole procedure.