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Estimation of single-sinusoidal disturbance using robust observer for multiple-disturbances systems

A disturbance estimation approach is presented for a class of nonlinear systems by incorporating two-layer structure. The multiple-disturbances concerned are supposed to include two parts. One is generated by an exogenous system, which can represent the single-sinusoidal signal with unknown frequency. The other part is norm bounded uncertain disturbance. The special auxiliary observer represent the exogenous modeled disturbance in a parametric uncertainty form where the unknown parameter can be reduced to a scalar. Another observer is thus constructed to estimate the equivalent sinusoidal disturbance, meanwhile the robust performance against the bounded signal is guaranteed. Simulations demonstrate the advantages of the proposed scheme.