Technical Briefs

Adaptive Cancellation of Matched Unknown Sinusoidal Disturbances for LTI Systems by State Derivative Feedback

[+] Author and Article Information
Halil İ. Baştürk

e-mail: hbasturk@ucsd.edu

Miroslav Krstic

e-mail: krstic@ucsd.eduDepartment of Mechanical and Aerospace Engineering,
University of California,
San Diego, CA 92093 – 0411

Contributed by the Dynamic Systems Division of ASME for publication in the Journal of Dynamic Systems, Measurement, and Control. Manuscript received March 20, 2011; final manuscript received August 8, 2012; published online October 29, 2012. Assoc. Editor: Rama K. Yedavalli.

J. Dyn. Sys., Meas., Control 135(1), 014501 (Oct 29, 2012) (6 pages) Paper No: DS-11-1080; doi: 10.1115/1.4007708 History: Received March 20, 2011; Revised August 08, 2012

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.

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Grahic Jump Location
Fig. 1

System’s response for the simulation example

Grahic Jump Location
Fig. 2

Disturbance estimation for the simulation example




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