Fast Compensation of Unknown Multiharmonic Disturbance for Nonlinear Plant with Input Delay

In this paper a new approach for fast rejection of unknown multiharmonic disturbance is proposed. To design this algorithm the method of cascade reduction is used that allows to accelerate the process of convergence of unknown frequencies estimates. Additionally, the proposed approach differs from the known results. In this article we consider the case of disturbance rejection, when a relative degree of the plant can be arbitrary and only an output is variable, the control signal is measured and the control channel is characterized by delay.