Observers of external deterministic disturbances. I. Objects with known parameters

A new design for observers of external deterministic disturbances is developed, in which parametrized disturbance models for wide classes of linear and nonlinear objects can be derived on a unified basis. The possible parametric uncertainty of the controlled system and external disturbance generator has no influence on the observer structure and parameters, and is manifested in the uncertainty of the parametrized disturbance model. Therefore, our observers are convenient for designing adaptive control algorithms for parametrically uncertain systems under external disturbances or adaptive compensation algorithms for unknown external deterministic disturbances.