Direct Adaptive Command Following and Disturbance Rejection for Minimum Phase Systems with Unknown Relative Degree

This paper considers parameter-monotonic direct adaptive command following and disturbance rejection for single-input, single-output minimum phase linear time-invariant systems with knowledge of the sign of the high-frequency gain and an upper bound on the magnitude of the high-frequency gain. We assume that the command and disturbance signals are generated by a linear system with known spectrum. Furthermore, we assume that the command signal is measured, but the disturbance signal is unmeasured.