Continuous Finite-Time Higher Order Output Regulators for Systems With Unmatched Unbounded Disturbances

This paper presents two continuous finite-time convergent control algorithms driving an output (the highest relative degree state) of an n-dimensional integrator to zero for a finite time using a scalar input in the presence of both matched and unmatched unbounded disturbances. No knowledge of all system states is required: only the output should be available for the control design. No knowledge or reconstruction of individual disturbances is assumed as well. This paper concludes with a case study of controlling an industrial benchmark DC motor, whose third-order mathematical model is perturbed by matched and unmatched disturbances.