Robust predictive extended state observer for a class of nonlinear systems with time-varying input delay

R. Sanz, P. García, E. Fridman, P. Albertos

Research output: Contribution to journalArticlepeer-review

Abstract

This paper deals with asymptotic stabilisation of a class of nonlinear input-delayed systems via dynamic output feedback in the presence of disturbances. The proposed strategy has the structure of an observer-based control law, in which the observer estimates and predicts both the plant state and the external disturbance. A nominal delay value is assumed to be known and stability conditions in terms of linear matrix inequalities are derived for fast-varying delay uncertainties. Asymptotic stability is achieved if the disturbance or the time delay is constant. The controller design problem is also addressed and a numerical example with an unstable system is provided to illustrate the usefulness of the proposed strategy.

Original languageEnglish
Pages (from-to)217-225
Number of pages9
JournalInternational Journal of Control
Volume93
Issue number2
DOIs
StatePublished - 1 Feb 2020

Keywords

  • Time-varying delay
  • linear matrix inequality
  • nonlinear systems
  • output feedback
  • robust control

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