Compensation of a finite-dimensional quasi-harmonic disturbance for a nonlinear object

The problem of synthesizing a control to compensate a finite-dimensional quasi-harmonic disturbance acting upon a nonlinear control plant is considered. The quasi-harmonic disturbance, which is not measured, is assumed to have unknown amplitudes and frequencies. The adaptive controller that provides the asymptotic stability of the controlled plant is synthesized based on the measurements of the plant state variables.