Adaptive disturbance compensation in linear systems with state and input delays

The problem of adaptive compensation of an external previously unknown disturbance affecting a linear object with delays in state and control signal is solved. The disturbance is not coordinated with the control, and only the output variable under control is accessible for direct measurements. The disturbance is modeled by an autonomous dynamic model with unknown parameters, and the control law is formed based on the principle of the internal model. The special parameterization of the external disturbance and the control error expansion scheme used allow to ensure the limitedness of all signals and asymptotic fulfillment of the control goal. Theoretical statements are illustrated by results of computer simulation