Output Adaptive Controller for a Class of MIMO Systems with Input Delay and Multisinusoidal Disturbance

摘要

We present a new output control approach for a class of MIMO systems with the input delay and unknown multisinusoidal disturbance affected the inputs and the outputs. We combine the well-known predictor feedback approach with the state observer and adaptive scheme for feed-forward disturbance rejection based on disturbance observer. Compared to the existing approaches, our adaptive scheme is applicable to plants that are unstable, non-minimum phase, and have an arbitrary relative degree and delay.