Robust controller design for input‐delayed systems using predictive feedback and an uncertainty estimator |
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Authors: | Ricardo Sanz Pedro Garcia Pedro Albertos Qing‐Chang Zhong |
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Affiliation: | 1. Instituto de Automática e Informática Industrial, Universitat Politècnica de València, València, Spain;2. Dept. of Electrical and Computer Engineering, Illinois Institute of Technology, Chicago, IL, USA |
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Abstract: | This paper deals with the problem of stabilizing a class of input‐delayed systems with (possibly) nonlinear uncertainties by using explicit delay compensation. It is well known that plain predictive schemes lack robustness with respect to uncertain model parameters. In this work, an uncertainty estimator is derived for input‐delay systems and combined with a modified state predictor, which uses current available information of the estimated uncertainties. Furthermore, based on Lyapunov–Krasovskii functionals, a computable criterion to check robust stability of the closed‐loop is developed and cast into a minimization problem constrained to an LMI. Additionally, for a given input delay, an iterative‐LMI algorithm is proposed to design stabilizing tuning parameters. The main results are illustrated and validated using a numerical example with a second‐order dynamic system. Copyright © 2016 John Wiley & Sons, Ltd. |
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Keywords: | robust stabilization input delay state predictor uncertainty estimator linear matrix inequality |
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