Simple output controller for nonlinear systems with multisinusoidal disturbance

The problem of control design for a class of nonlinear system with multisinusoidal disturbance is considered. It is assumed that the linear part is unknown and minimum phase. The nonlinear part is known inaccurately, it is irreducible to an input of the linear block, and generally does not satisfy sector restrictions. An output controller ensuring semiglobal stability is designed. Controller was supplemented with the cancellation scheme of a multisinusoidal external disturbance that improves performance without its significant complication.