To extend the proposed method to handle systems with unknown disturbances, we can incorporate robust control techniques. One approach could be to design an adaptive control algorithm that can adjust the controller parameters in real-time based on the system's response to disturbances. By continuously monitoring the system's behavior and updating the control parameters, the controller can effectively compensate for unknown disturbances. Additionally, techniques such as robust model predictive control (MPC) can be employed to account for uncertainties in the system dynamics and disturbances. By formulating the control problem as a robust optimization problem, the controller can ensure stability and performance even in the presence of unknown disturbances.