不确定LTI- SISO系统的低通滤波降阶时滞观测器控制

提出一种低通滤波降价时滞观测器，避免了常规时滞观测器控制中由于时滞状态微分近似引起的控制信号颤振。参考模型的选取只与系统的相对阶次有关，而与系统阶次无关，从而简化了控制器的设计，降低了对系统可测性的要求。仿真结果表明，该时滞观测器控制系统可以很好地抑制系统的不确定性以及受到的外部干扰，是一种性能优良的鲁棒控制方法。

Reduced-order Time Delay Observer with Low-pass Filter for LTI-SISO Systems with Uncertainties

A reduced order time delay observer with low pass filter is presented. The vibration of control signal, which is caused by the approximation of the delayed derivative of the state, is eliminated. The choice of the reference model only depends on the relative degree of the plant but not the degree. The controller design is simplified and the system measurability is less required. Simulation results show that the time delay observer with low pass filter attenuates the system uncertainties and disturbances almost immediately, and is a good method of robust control.