Compensation of Unknown Multiharmonic Disturbance for Nonlinear Plant with Delay in Control*

In this paper a new approach for cancellation of a multiharmonic disturbance is proposed. Compared with a number of known results in this paper the disturbance compensation problem is solved when the output variable is measured only, a relative degree of the plant is arbitrary and the control channel has delay. The numerical example is presented to illustrate theoretical result and the reaction wheel pendulum on a movable platform is considered as the plant to demonstrate that proposed approach is realizable and can be plugged in practice. Created by hand disturbance moves the platform in horizontal surface and the pendulum is oscillating. The second goal of this work is the development of mechatronic applications using in education.