Disturbance Decoupling Adaptive Control

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With feedforward and disturbance decoupling control, cancellation of disturbance influences on the output is desired. Several adaptive schemes for implementing this are discussed. It is found that adaptive control based on explicit criterion minimization is a very attractive alternative. Simulations indicate that the method has excellent robustness properties. For non-minimum phase systems, optimal disturbance rejection is achieved. Selftuning control and adaptive LQG feedforward for non-minimum phase systems is also discussed.