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Output Adaptive Compensation of Multi-Sinusoidal Disturbance in Linear Systems with Input and State Delays *

This paper concerns the problem of adaptive disturbance compensation for linear time-invariant (LTI) systems with both state and input delays. The external disturbance is considered as unmeasurable output of a linear autonomous dynamic system (exosystem) with unknown parameters but known order. An output feedback adaptive compensator is designed on the basis of technique recently proposed in [1] for LTI systems with input delay only and modified here for the case of state delays. The solution proposed consists of a disturbance observer, disturbance parameterization and design of adjustable control tuned by an adaptation algorithm with a modified augmented error.