Adaptive output regulation based on internal model principle for systems, with uncertain disturbances and reference signals

An output regulation problem under the existence of disturbances is one of the main objectives to design the control system for mechanical systems, and the strategy based on the internal model principle (IMP) is one of the attractive ways to suppress the disturbances. In this paper, we propose an almost strictly positive real (ASPR) based adaptive output feedback control with adaptive internal model for output regulation for systems with uncertain disturbances and reference signals. The stability of the obtained adaptive control system is analysed, and the effectiveness of the proposed method is confirmed through numerical simulations.