Direct Adaptive Rejection of Persistent Disturbances

Given any finite set of persistent disturbances that can be represented by a finite sequence in the Banach space of bounded continuous functions, it is shown that stable disturbance rejection is possible for command generator tracker (CGT) model reference adaptive control if certain conditions are satisfied. If the system in question is disturbance-free, the addition of disturbance accommodating adaptive gains into the control law will not impede the asymptotic convergence of the tracking error. Almost periodic disturbances are explored and an illustrative example of the method is given.