Adaptive internal model for disturbance rejection and control

A new algorithm which extracts the disturbance model from a minimal model having a different input signal is given. The minimal model is used for adaptive pole placement incorporating the internal model principle. The closed-loop system is shown to reject the disturbances asymptotically. A stability analysis with persistency of excitation conditions towards convergence analysis of the proposed algorithm is also given. A number of simulated examples are given to demonstrate the performance of the algorithm.