Algorithm for dynamic compensation of disturbances under input signal saturation

The new algorithm for dynamic compensation of disturbances for linear plants with single input and single output under conditions of parametric uncertainty and external bounded disturbances is proposed. We consider the problem of tracking the plant output to the reference signal without measuring output derivatives. The algorithm is generalized to the given constraints on the control signal. We formulate the conditions depending on the parameters of the plant and the control signal which allow to ensure the stability of the closed loop system. The simulation results illustrate efficiency of the proposed algorithm.