Adaptive Disturbance Rejection of Nonlinear Output Feedback Systems with Nonlinear Internal Dynamics

This paper deals with asymptotic rejection of unknown sinusoidal disturbances for uncertain nonlinear systems in an extended output feedback form which allows the vector field coupled with the system input to have different nonlinear functions of the system output as its elements. This extended output feedback form has nonlinear dynamics for the internal states with the nonlinearity depending on the system output. A new internal model design is proposed to deal with nonlinear functions of the system output which are coupled with the input and the unknown disturbance. Adaptive control techniques are then used to deal with the uncertainty in the system. The proposed adaptive disturbance rejection algorithm with the new internal model design ensures the asymptotic rejection of the unknown sinusoidal disturbance and the boundedness of all the variables