Robust adaptive rejection of unknown deterministic disturbances

This paper discusses robust adaptive control for unknown linear discrete time plants with rejection to unknown deterministic disturbances. A new algorithm is proposed. Adaptive implementation of the internal model principle is used for asymptotical cancellation of the disturbances, and the adaptation for the dead zone bound is employed for implementation of the relative dead zone algorithm which ensures global stability of the closed loop system. No knowledge of the dead zone bound is required and thus this algorithm greatly improves its applicability in practice. Simulation results are provided for support of the analysis. © 1994.