Direct adaptive feedback attenuation of narrow-band disturbances

Abstract

This chapter presents the basic algorithm for direct adaptive feedback attenuation of unknown and time-varying narrow-band disturbances. This algorithm implements the Internal Model Principle for disturbance attenuation using a Youla-Kucera parametrization for the controller. The use of a FIR Youla-Kucera filter allows to develop a direct adaptive scheme where the poles of the closed-loop defined by the central controller remain unchanged. Specific robustness issues for the design of the central controller are discussed. Experimental results obtained on the bench tests presented in Chap. 2 will illustrate the performance of the algorithm.