Adaptive Cancellation of Matched Unknown Sinusoidal Disturbances for LTI Systems by State Derivative Feedback

Abstract

Solutions already exist for the problem of canceling sinusoidal disturbances by measurement of state or an output for linear and nonlinear systems. In this paper, we design an adaptive controller to cancel matched sinusoidal disturbances forcing a linear timeinvariant system by using only measurement of statederivatives. Our design is based on three steps; (1) parametrization of the sinusoidal disturbance as the output of a known feedback system with an unknown output vector, (2) design of an adaptive disturbance observer and, (3) design of an adaptive controller. We prove that the equilibrium of the closedloop adaptive system is globally uniformly asymptotically stable and locally exponentially stable. The effectiveness of the controller is illustrated with a simulation example of a secondorder system.