Adaptive cancellation of unknown multiharmonic disturbance for nonlinear plant with input delay

Abstract

In this paper a new approach for cancellation of a multiharmonic disturbance is proposed. Compared with a number of known results in this paper the disturbance compensation problem is solved when the output variable is measured only, a relative degree of the plant is arbitrary and the control channel has the constant time delay. The numerical example is presented to illustrate theoretical result and the reaction wheel pendulum on a movable platform is considered as the plant to demonstrate that proposed approach is realizable and can be plugged in practice. Created by hand disturbance moves the platform in horizontal surface and the pendulum is oscillating. The second goal of this work is the development of mechatronic applications using in education.

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Cite this paper

@article{Pyrkin2011AdaptiveCO, title={Adaptive cancellation of unknown multiharmonic disturbance for nonlinear plant with input delay}, author={Anton A. Pyrkin and Alexey A. Bobtsov and Yuriy A. Kapitanyuk and Anton V. Titov and Alexey A. Vedyakov and Inver H. Shadzhe}, journal={2011 19th Mediterranean Conference on Control & Automation (MED)}, year={2011}, pages={874-879} }