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We consider the task of motion control for non-prehensile manipulation usingparallel kinematics mechatronic setup, in particular, stabilization of a ballon a plate under unmeasured external harmonic disturbances. System parametersare assumed to be unknown, and only a ball position is measurable with aresistive touch sensor. To solve the task we propose a novel passivity-basedoutput control algorithm that can be implemented for unstable linearizedsystems of an arbitrary relative degree. In contrast to previous works, wedescribe a new way to parametrize harmonic signal generators and an estimationalgorithm with finite-time convergence. This scheme enables fast disturbancecancellation under control signal magnitude constraints.

Output adaptive control for linear systems under parametric uncertainties with finite-time matching input harmonic disturbance rejection