This work presents a control algorithm which incorporates a Reference Model Robust Adaptive Controller (RM RAC) and a Linear Quadratic Regulator based on Kalman Filtering (LQRKF ) to obtain a high performance and robust control system. The adaptive portion of the controller deals with system uncertainties, while the optimum scheme, aided by a Kalman Filter, is designed to deal with harmonically related system disturbances. A proof of stability is presented in addition to a numerical example of the combined RM RAC-LQRKF controller to show the effectiveness of this new control approach.
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