Continuous finite-time output regulation for disturbed systems under mismatching condition

In this technical note, the problem of finite-time output regulation control for a class of disturbed system under mismatching condition is investigated via a composite control design manner. The composite controller is developed by using a finite time control technique and a finite time disturbance observer (FTDO). A key idea is to design virtual control laws based on estimation values of the disturbances and the ith (1≤i≤n-1 where n is the order of the system) order derivative of disturbances. Finite time stability analysis for the augmented system is presented by means of Lyapunov stability theorems, which shows that the system output is regulated to zero in finite time even in the presence of mismatched disturbances. A motion control application demonstrates the effectiveness and attractive properties of the proposed method