We apply retrospective cost adaptive control (RCAC) to command-following and disturbance-rejection problems for a diesel engine model. The engine is a multi-input, multi-output system with strong static and dynamic interactions, nonlinearities, uncertainties and nonminimum phase characteristics. We demonstrate that RCAC is effective for both the linearized and nonlinear engine models provided that two Markov parameters of the linearized engine plant model are known, either analytically or through system identification. For the command-following and disturbance-rejection problems, we consider the case when the disturbance is harmonic but otherwise unknown, and while the command signal is harmonic and known but no advance knowledge of its spectrum is assumed to be available.

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