This paper presents a modification to L 1 adaptive control that allows for disturbances
entering at the output and application of this control strategy to Managed Pressure Drilling
with harmonic disturbances representing the heave motion of a floating drilling rig. By
incorporating the disturbance at the output into the reference model, it is shown that the Li
adaptive control structure can be left unchanged while the original transient performance
bounds are preserved. It is further shown that rejection of the output disturbance can be …