Adaptive Control of Multichannel Nonlinear Systems with Unaccounted Dynamics Under Disturbances

The problem of adaptive control of multichannel nonlinear systems with unaccounted input dynamics under parametrically uncertain disturbances is considered. It is shown how the approach based on a “post-processing” adjustable internal model can be used to provide compensation for harmonic external disturbances. The adaptation algorithm is synthesized based on the stability analysis of the closed system using Lyapunov functions.