Parameter adaptation for general regulator problems with compensation of internal model

This paper investigates the general regulator problem with an internal model capable of adapting to the unknown parameters of persistent disturbances and/or reference signals affecting the measured output. Specifically, the proposed architecture based on stable compensators of internal model (CIM) allows to reduce the stabilization problem for an augmented system (the plant plus internal model) to that of a process without the internal model and with the complexity of the plant. Then, it is shown that, under certain conditions on the plant model, the proposed scheme makes the parameters of the internal model affect the closed-loop dynamics affinely. This, in turn, facilitates the incorporation of simple adaptation mechanisms with a global convergence.