Rejection of sinusoidal disturbances with time varying frequency for discrete multivariable systems: Adaptive control with Q-parametrization

In this paper, we propose a new adaptive control law with Q-parametrization for discrete multi-input multi-output systems subjected to sinusoidal disturbances with time-varying frequency. The rejection of sinusoidal disturbances with known frequency is obtained using partial state reference model control with Youla-Kucera parametrization. However, the frequency of these disturbances can be unknown and/or varying in time. The proposed solution is to estimate on-line the frequency of disturbances and then to adjust the controllers parameters. The simulation results are satisfactory and show good performances in terms of tracking reference trajectories and of rejecting sinusoidal disturbances with time varying frequency.