Output Controller for Parametrically Uncertain Plants with Finite-Time Simultaneous Disturbance Rejection

A new output controller for parametrically uncertain unstable linear systems with an arbitrary relative degree under unmeasured matching input harmonic disturbances is proposed in this paper. In contrast to previous works we can guarantee finite-time convergence for disturbance parameters estimates, which enables fast disturbance cancellation under control signal magnitude constraints. Parallel kinematics Ball-and-Plate robotic system is considered as a test-bed for algorithms validation.