Direct adaptive disturbance accommodation

Given any finite set of persistent disturbances that can be represented by a finite sequence of bounded, piecewise continuous functions, it is shown that stable disturbance rejection is possible for command generator tracker model reference adaptive control if certain conditions are satisfied. If the system in question is disturbance-free, the addition of disturbance accommodating adaptive gains into the control law will not impede the asymptotic convergence of the tracking error. The special case of adaptive rejection only is derived and almost periodic disturbances are explored