Robustness of ARMARKOV adaptive control disturbance rejection algorithm

We perform numerical experiments involving the ARMARKOV adaptive control algorithm. The performance of the algorithm is considered under a diverse set of conditions representing plant and disturbance uncertainty including perturbed disturbance spectrum, perturbed plant model, additive measurement noise, control input saturation, and feedback path sign inversion. These numerical experiments can be viewed as only representative illustrations of the properties of this adaptive control algorithm. Nevertheless, these simulations suggest that the algorithm has significant ability to provide robust stability and performance under diverse deteriorating conditions