Szukana fraza: [Abstract = "For systems with higher relative degrees, by first estimating the disturbance, the state vector is asymptotically expressed by the filters of the input, the filters of the output and the estimates of the first\-order filters of the disturbance. Then the state observer and the estimated disturbance are applied to a controller to place desired poles and to cancel the disturbance. Finally, examples and simulation results show that the proposed algorithms are effective."]

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