Rejection of mismatched disturbances for systems with input delay via a predictive extended state observer
Corresponding Author
R. Sanz
Instituto de Automática e Informática Industrial, Universitat Politècnica de València, València, Spain
Correspondence
Ricardo Sanz, Instituto de Automática e Informática Industrial, Universitat Politècnica de València, 46022 València, Spain.
Email: [email protected]
Search for more papers by this authorP. Garcia
Instituto de Automática e Informática Industrial, Universitat Politècnica de València, València, Spain
Search for more papers by this authorE. Fridman
School of Electrical Engineering, Tel Aviv University, Tel Aviv, Israel
Search for more papers by this authorP. Albertos
Instituto de Automática e Informática Industrial, Universitat Politècnica de València, València, Spain
Search for more papers by this authorCorresponding Author
R. Sanz
Instituto de Automática e Informática Industrial, Universitat Politècnica de València, València, Spain
Correspondence
Ricardo Sanz, Instituto de Automática e Informática Industrial, Universitat Politècnica de València, 46022 València, Spain.
Email: [email protected]
Search for more papers by this authorP. Garcia
Instituto de Automática e Informática Industrial, Universitat Politècnica de València, València, Spain
Search for more papers by this authorE. Fridman
School of Electrical Engineering, Tel Aviv University, Tel Aviv, Israel
Search for more papers by this authorP. Albertos
Instituto de Automática e Informática Industrial, Universitat Politècnica de València, València, Spain
Search for more papers by this authorSummary
The problem of output stabilization and disturbance rejection for input-delayed systems is tackled in this work. First, a suitable transformation is introduced to translate mismatched disturbances into an equivalent input disturbance. Then, an extended state observer is combined with a predictive observer structure to obtain a future estimation of both the state and the disturbance. A disturbance model is assumed to be known but attenuation of unmodeled components is also considered. The stabilization is proved via Lyapunov-Krasovskii functionals, leading to sufficient conditions in terms of linear matrix inequalities for the closed-loop analysis and parameter tuning. The proposed strategy is illustrated through a numerical example.
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