Robust model reference adaptive control with disturbance rejection

Given specific types of continuous time plants and disturbances of known and unknown waveform, we show that there exists a stabilizing direct model reference adaptive control law with certain disturbance rejection and robustness properties. Furthermore, the combined error system is shown to be exponentially convergent to a neighborhood with radius proportional to the magnitude of the unmodeled disturbance. We conclude with a design application using a finite element model of AFRL's AMPSS/ASTREX testbed to illustrate the utility of the control law.