Closed Loop Direct Adaptive Inverse Control for Linear Plants

In direct adaptive inverse control (DAIC), parameters of the controller are estimateddirectly in the feed-forward loop. In this paper, we propose a closed loop direct adaptive inversecontrol (CDAIC) scheme which improves tracking, error convergence, and disturbance rejectionproperties of DAIC. CDAIC is applicable to stable or stabilized, minimum or nonminimumphase linear plants. CDAIC and DAIC are compared using computer simulations for disturbancefree and disturbed discrete type nonminimum phase linear plants. CDAIC shows better resultscompared to DAIC in terms of mean square tracking error and disturbance rejection.