Output adaptive controller for linear system with input delay and multisinusoidal disturbance

We present a new stabilization approach for a linear plant with the input delay and an unknown multisinusoidal disturbance affected the input and the output. To solve this problem, we combine the well-known predictor feedback approach with the state observer and adaptive scheme that identifies the frequency of the disturbance. Compared to the existing approaches, our adaptive scheme is applicable to plants that are unstable, non-minimum phase, and have an arbitrary relative degree.