Disturbance estimation and cancellation for a class of linear uncertain systems
Abstract
This paper considers a class of linear uncertain systems in which the uncertainty is an additive perturbation of a known (nominal) linear model. It is supposed that the uncertainty and/or disturbance is known to be bounded, but its bound is unkown. A novel, easy to implement, adaptive feedback control law is designed to estimate the bounded disturbance on-line. This information is then used to cancel the effect of the disturbance in the system. The main advantage is that, if further design objectives are to be realized (for example, with respect to a tracking problem), the controls can be designed on the information from the nominal model only and not on the uncertain model.
