New Predictor‐Based Anti‐Disturbance Control for Discrete‐Time Systems With Input Delay Subject to Time‐Varying Uncertainties

• Published in: International journal of robust and nonlinear control Vol. 35; no. 3; pp. 959 - 971
• Main Authors: Hao, Shoulin, Du, Ruitao, Liu, Tao, Paszke, Wojciech
• Format: Journal Article
• Language: English
• Published: Hoboken, USA John Wiley & Sons, Inc 01.02.2025; Wiley Subscription Services, Inc
• Subjects: anti‐disturbance control; Control systems; Discrete time systems; disturbance predictor; extended state observer; Input delay; robust stability analysis; State observers; Time measurement; Uncertainty
• ISSN: 1049-8923; 1099-1239
• DOI: 10.1002/rnc.7696

ABSTRACT In this article, a new predictor‐based anti‐disturbance control scheme is proposed for discrete‐time systems with input delay subject to time‐varying uncertainties, by only using the system output measurement. A high‐order extended state observer is firstly constructed to simultaneously estimate the system state, unknown disturbance and its high‐order difference with specification. Two alternative designs of the system state and disturbance predictors are then presented to construct an advanced anti‐disturbance control scheme. The disturbance attenuation performance of the resulting closed‐loop system is quantitatively analyzed. Moreover, a matrix‐inequality‐based sufficient condition is established to evaluate robust stability of the closed‐loop system under time‐varying uncertainties. Finally, a benchmark example is adopted to demonstrate the effectiveness and advantages of the proposed control schemes over the existing methods.