Optimal periodic disturbance reduction for active noise cancelation

The design of an optimal internal model-based (IMB) controller by extending standard discrete time optimal control theory for IMB controllers is described. The optimal observer and state feedback gains of the IMB controller are given via the solution of discrete time algebraic Riccati equations. The design method is applied to an acoustic system that is subjected to disturbances from a server fan. Periodic disturbances from the server fan appear as harmonics of the fundamental frequency of the fan. Parametric models for the plant and non-periodic part of the disturbance are identified from experimental data. An internal model is designed in discrete time and the internal model principle is used to design a feedback controller that rejects periodic disturbances in the acoustic system. The controller is implemented in real-time and successfully attenuates the first four harmonics of the fan noise.