| An innovative extension of adaptive feedforward cancellation to model reference adaptive control in continuous-time is constructed through a relatively simple modification of existing direct adaptive control techniques. The resulting direct adaptive control law is computationally efficient since it requires no adaptation of plant parameters. Knowledge of the basis functions for the given disturbance is needed, however, in order to construct the control law. Disturbance Accommodating Control and this new method are compared and contrasted. A robust direct adaptive result is provided as a separate theorem and extends in a straightforward manner to existing adaptive formulations. The discrete-time problem is also considered and a new SPR assumption will be introduced which will eliminate the need for a non-zero feedthrough term. This discrete time control design is used in a deployable optical telescope around based experiment and some preliminary results will be provided. |
