Rejection of mismatched disturbances for systems with input delay via a predictive extended state observer

R. Sanz*, P. Garcia, E. Fridman, P. Albertos

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

Abstract

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.

Original languageEnglish
Pages (from-to)2457-2467
Number of pages11
JournalInternational Journal of Robust and Nonlinear Control
Volume28
Issue number6
DOIs
StatePublished - 1 Apr 2018

Funding

FundersFunder number
Ministerio de Economía y Competitividad
Generalitat ValencianaTIN2014-56158-C4-4-P-AR
Universitat Politècnica de València

    Keywords

    • input delay
    • linear matrix inequality
    • mismatched disturbance
    • predictive observer

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