Adaptive controller for linear system with input delay and output disturbance

We present a new stabilization approach for a linear plant with input delay, parametric uncertainties, and an unknown harmonic 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, the structure of our adaptive scheme is the simplest and the results apply to plants that are unstable, non-minimum phase, and have an arbitrary relative degree.