The robustness of model-free adaptive control with disturbance suppression
扰动抑制无模型自适应控制的鲁棒性分析

Abstract: For a class of single-input single-output(SISO) nonlinear discrete-time systems, the measurement disturbance impacts to a model-free adaptive control are considered. The relationship between the output error and the measurement disturbance are given, and the influence of the measurement disturbance is also analyzed. Then, an improved model-free adaptive control algorithm with a filter is proposed, which suppresses the measurement disturbance effectively. The analysis is supported by simulations.