Drift estimation by timescale transformation

In this study, we consider a model free control technique for a class of minimum phase nonlinear systems with unknown dynamics. We propose a timescale transformation approach that can be used to estimate the drift and the high frequency gain of the output dynamics of nonlinear systems with a well defined relative degree. The proposed controller provides an effective output regulation mechanism that avoids the need for direct disturbance model estimation and high gain output feedback controllers. A simulation study is conducted to demonstrate the effectiveness of the proposed approach.