A two-degree-of-freedom design of simple adaptive servosystems

A two-degree-of-freedom design of simple adaptive servosystems is considered for a linear continuous-time plant. A reference model is introduced for specifying a desirable transient response, while an integral compensator is used in order to cope with a constant disturbance input. Then, an adaptive control law is proposed, which achieves a suitable model following control independently of selection of the integral gain. That is, a disturbance rejection property can be tuned by the gain arbitrarily without changing the adaptive control law, which is a significant feature of this simple adaptive servosystem.