Affiliation:
1. e-mail:
2. e-mail: Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA 92093 – 0411
Abstract
Solutions already exist for the problem of canceling sinusoidal disturbances by measurement of state or an output for linear and nonlinear systems. In this paper, we design an adaptive controller to cancel matched sinusoidal disturbances forcing a linear time-invariant system by using only measurement of state-derivatives. Our design is based on three steps; (1) parametrization of the sinusoidal disturbance as the output of a known feedback system with an unknown output vector, (2) design of an adaptive disturbance observer and, (3) design of an adaptive controller. We prove that the equilibrium of the closed-loop adaptive system is globally uniformly asymptotically stable and locally exponentially stable. The effectiveness of the controller is illustrated with a simulation example of a second-order system.
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Cited by
16 articles.
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