Asymptotic rejection of unknown sinusoidal disturbances in nonlinear systems

This paper deals with global disturbance rejection of nonlinear systems. The disturbance is assumed to be sinusoidal with completely unknown phases, amplitude, and frequencies, but the number of distinct frequencies or the order of the corresponding unknown linear exosystem is known. Different from the common structural assumptions of nonlinear systems needed in literature for disturbance rejection of nonlinear systems, the proposed method only requires the information of control design with a known Lyapunov function when the system is disturbance-free, and a mild assumption needed for internal model design. The proposed disturbance rejection algorithm extends complete global rejection of unknown sinusoidal disturbances for nonlinear dynamic systems beyond the common nonlinear models such as the strict feedback forms and the output feedback forms. © 2006 Elsevier Ltd. All rights reserved.