Delayed Disturbance Attenuation via Measurement Noise Estimation

Igor Furtat*, Emilia Fridman

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


A novel control law is proposed to attenuate the influence of bounded disturbances and measurement noises for plants with vector output and sector-bounded nonlinearities. The control law is based on the estimation of measurement noises. Differently from the existing results, the ultimate bound of the closed-loop system depends only on one component of the noise vector (as well as on the disturbance). The proposed control law is extended to systems with uncertain input and output delays. The input-to-state stability conditions are given in terms of matrix inequalities. The efficiency and advantages of the results over the existing methods are demonstrated by numerical examples.

Original languageEnglish
Pages (from-to)5546-5553
Number of pages8
JournalIEEE Transactions on Automatic Control
Issue number11
StatePublished - 1 Nov 2021


  • Disturbance attenuation
  • Lyapunov-Krasovskii functional
  • time delay


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