Noise and Disturbance Compensation Approach for Linear Time-Invariant   Plants
  The algorithm with compensation of parametric uncertainties, external disturbances and measurement noises for linear time-invariant plants is designed. It is assumed, that the dimension of the noise can be equaled to the state vector dimension and the disturbance can be presented in any equation of the plant model. Analytical condition for algorithm feasibility is proposed. Simulation results show the efficiency of the proposed algorithm. 
Igor B. Furtat
cs.SY