Rejection of Unknown Biased Harmonic Disturbance for Nonlinear System with Input Delay

In this paper a new approach for cancellation of a biased harmonic 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 reaction wheel pendulum on a movable platform is considered as the plant to demonstrate how proposed approach can be plugged. 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.