Decentralized adaptive disturbance rejection for relative-degree-one local subsystems

We present a strictly decentralized adaptive controller for single-input single-output linear time-invariant subsystems that are minimum phase and relative degree one. This decentralized adaptive controller requires only local output measurement and no information is shared between the local controllers. The controller is effective for stabilization and disturbance rejection, where the disturbance is unmeasured but generated from an unknown Lyapunov-stable linear system.