On the use of adaptive precompensators for rejecting output disturbances in nonminimum phase SISO systems

Looks at the use of one adaptive precompensator for rejecting output disturbance in nonminimum phase SISO systems assuming only knowledge of the disturbance generator polynomial´s degree. The control scheme basically consists of: a non-proper filter reconstructing the disturbance; a gradient identification algorithm whose aim is to estimate indirectly the nulling polynomial of the disturbance; and the proper linear control law which anticipates the influence of the disturbance at the output