State derivative feedback for adaptive cancellation of unmatched disturbances in unknown strict-feedback LTI systems

Abstract

Solutions exist for the problem of canceling sinusoidal disturbances by the measurement of the state or by the measurement of an output for linear and nonlinear systems. In this paper, an adaptive backstepping controller is designed to cancel sinusoidal disturbances forcing an unknown linear time-invariant system in controllable canonical form which is augmented by a linear input subsystem with unknown system parameters. The state-derivatives of the original subsystem and the state of the input subsystem are the only measurements that are used in the design of the controller. The design is based on four steps, (1) parametrization of the sinusoidal disturbance as the output of a known feedback system with an unknown output vector that depends on unknown disturbance parameters, (2) design of an adaptive disturbance observer for both disturbance and its derivative, (3) design of an adaptive controller for the virtual control input, and (4) design of the final adaptive controller by using the backstepping procedure. It is proven that the equilibrium of the closed-loop adaptive system is stable and the state of the considered original subsystem converges to zero as t→∞ with perfect disturbance estimation. The effectiveness of the controller is illustrated with a simulation example of a third order system.