Adaptive regulation with almost disturbance decoupling for power integrator triangular systems with nonlinear parametrization

The problem of almost disturbance decoupling for a class of nonlinear systems is considered. The controlled systems consist of a chain of power integrators perturbed by a lower-triangular vector field with nonlinear parametrization. By using the tool of adding a power integrator combined with the parameter separation technique, under a set of growth conditions a smooth adaptive controller is explicitly constructed to attenuate the influence of the disturbance on the output with an arbitrary degree of accuracy. The designed adaptive controller is in its minimum-order property, since the order of the dynamic compensator is equal to one. An illustrative example is given to verify the effectiveness of the proposed approach.