Adaptive regulation of time varying disturbances via weighted Robust Estimation and Automatic Controller Tuning

This paper proposes a methodology to adaptively reduce time varying and narrow band harmonic disturbances via the estimation of a feedback controller transfer function parameterized in a Youla-Kucera parametrization. The proposed adaptive feedback regulation simultaneously minimizes the variance of a performance (output) signal and a control (input) signal in real-time. Uncertainty on the plant dynamics is taken into account by including a frequency weighting on the control signal and the solution is formulated as a Recursive Least Squares minimization. The methodology is applied to a mechanical vibration control benchmark that is part of a collaborative invited session at the conference to demonstrate how the proposed adaptive feedback regulation can effectively reduce unknown harmonic disturbances with time-varying frequency contents.