Continuous time indirect adaptive control with disturbance rejection

This paper presents an indirect adaptive control algorithm with rejection to unknown deterministic disturbances for continuous time plants. An adaptive version of the internal model principle with pole placement is used for asymptotic cancellation of the deterministic disturbances. It is shown that the resulting adaptive control system is globally stable and convergent without persistency of excitation conditions and perfect tracking can be achieved. It is also shown that robust stability of the adaptive control system can be obtained in the presence of plant unmodelled dynamics and other bounded disturbances if the relative dead zone is incorporated in the estimator.