Disturbance compensation with finite spectrum assignment for plants with input delay

Igor Furtat*, Emilia Fridman, Alexander Fradkov

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

34 Scopus citations


This paper presents a method for compensation of unknown bounded smooth disturbances for linear time invariant (LTI) plants with known parameters in the presence of constant and known input delay. The proposed control law is a sum of the classical predictor suggested by Manitius andOlbrot for finite spectrum assignment and a disturbance compensator. The disturbance compensator is a novel control law based on the auxiliary loop for disturbance extraction and on the disturbance prediction. A numerical implementation of the integral terms in the predictor-based control law is studied and sufficient conditions in terms of linear matrix inequalities are provided for an estimate on the maximum delay that preserves the stability. Numerical examples illustrate the efficiency of the method.

Original languageEnglish
Pages (from-to)298-305
Number of pages8
JournalIEEE Transactions on Automatic Control
Issue number1
StatePublished - Jan 2018


FundersFunder number
Russian Foundation for Basic Research17-08-01266
Ministry of Education and Science of the Russian Federation
Russian Science FoundationMD-6325.2016.8, 14-29-00142, 14.W01.16.6325-MD
Government Council on Grants, Russian Federation074-U01


    • Disturbance compensation
    • Input delay
    • Numerical implementation
    • Predictor
    • Stabilization


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