Robust Adaptive Compensation of External Disturbances for Multi-Channel Linear Systems

TL;DR

This paper introduces a novel adaptive control algorithm that effectively compensates external disturbances in multi-channel linear systems by combining internal model principles with advanced observer design, validated through MATLAB simulations.

Contribution

It presents a new disturbance compensation method using an extended observer and internal model, specifically designed for multi-channel linear systems with unknown disturbance parameters.

Findings

Successful disturbance estimation using a new observer.

Effective disturbance compensation demonstrated in MATLAB simulations.

Enhanced robustness of control in multi-channel systems.

Abstract

This paper proposes a new algorithm for compensating external disturbances for class of multi-channel linear systems. The solution to this problem is based on the use of the internal model principle and the extended error adaptation algorithm. It is assumed that the disturbance is the output of an autonomous linear generator with unknown parameters. At the first stage, a full-order observer with unknown input signals (Unknown Input Observer - UIO) is synthesized to solve the problem of estimating the state vector of this plant. Then a new observer of external disturbance is formed on the basis of state vector estimations. At the last stage, based on the new observer's estimations, a system with an extended state vector is formed for which a regulator providing compensation of disturbance is constructed. The performance of the obtained results is confirmed using computer simulation in MATLAB Simulink.