Direct adaptive rejection of unknown time-varying narrow band disturbances applied to a benchmark problem

Abstract

The paper presents a direct adaptive algorithm for the rejection of unknown time-varying narrow band disturbances, applied to an adaptive regulation benchmark. The objective is to minimize the residual force by applying an appropriate control signal on the inertial actuator in the presence of multiple and/or unknown time-varying disturbances. The direct adaptive control algorithm is based on the internal model principle (IMP) and uses the Youla–Kučera (YK) parametrization. A direct feedback adaptive regulation is proposed and evaluated both in simulation and real-time. The robustness is improved by shaping the sensitivity functions of the system through band stop filters (BSF).