Adaptive Compensation Disturbance For Linear Systems With Input Delay*

An adaptive algorithm, compensating for unknown harmonic disturbance acting for linear objects under conditions of the unavailable state vector with a defined delay in the control channel is proposed. One of the features of the proposed method in comparison with other methods is that the perturbation signal is considered in the form of products of sinusoids. A new approach is proposed for estimating the frequencies of harmonic signal. It is assumed that all parameters of the multiharmonic disturbance (amplitude, frequency, and phase) are unknown. The task is completed in several steps. First, an observer is constructed based on a frequency estimation scheme. Secondly, stabilization of the ouput of object to zero is carried out using feedback based on the predictor. Examples are given that confirm the relevance of the proposed approach. Our main contribution is to propose a new scheme for compensating external disturbances for a linear plant and a new approach for estimating the frequencies of a multisinusoidal signal.