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In previous works [1]-[6] methods of reducing the effects of known external waveform type disturbances on linear and nonlinear systems are given. These methods do not require that the exact magnitude or the arrival time of the deterministic disturbance be known. However, in some cases, certain disturbance model parameters need to be known. For example, the angular frequency for sinusoidal disturbances...
A set of analytical procedures and numerical criteria for the design of robust controllers yielding quantitative reference tracking and disturbance rejection is outlined. A preliminary result that extends servomechanism notions to the uncertain, nonlinear case is given in conjunction with simulation evidence.
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