Adaptive rejection of non-linear disturbances in extended non-linear output feedback systems

This paper deals with asymptotic rejection of disturbances generated from non-linear exosystems 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. A new internal model design is proposed to deal with nonlinear functions of the system output that 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 nonlinear disturbance and the boundedness of all the variables.