Abstract
The paper deals with the problem of compensation of unmeasured output biased harmonic disturbance for nonlinear plant. We propose a frequency identifier for unmeasured disturbance y(t)=σ 0 + σsin(ωt + ϕ). Using this identifier the disturbance compensation algorithm was designed. This algorithm is based on observing the extended plant model and designing a control signal for the disturbance compensation by measured states of the designed observer. It is demonstrated that the proposed algorithm is applicable under variable disturbance frequency.
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