Adaptive Pole Placement Controller with Directly Estimating Disturbance Model
直接辨识扰动模型的内模极点配置自适应控制

A new algorithm which directly identifies parameters o f disturbance model and plant model in an estimator is given. The disturbance mo del is used for adaptive pole placement controller based on the internal model principle so that the disturbances can be eliminated. Because the identifing way is different from commonly used ones, it is not needed to separate the disturbance model . The method can be used in the situation where the disturbances are of many frequencies, and the degree of the estimator is not higher than that of the common one. The persisten t spanning of observing signal and system stability analysis are also given.