Improved disturbance rejection for predictor-based control of MIMO linear systems with input delay |
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| Authors: | Shang Shi Wenhui Liu Junwei Lu Yuming Chu |
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| Affiliation: | 1. School of Automation, Nanjing University of Science and Technology, Nanjing, P. R. China;2. Key Laboratory of Information Perception and Cooperative Control of Multi-Mobiles, Nanjing, P. R. China;3. School of Electrical and Automation Engineering, Nanjing Normal University, Nanjing, P. R. China;4. School of Electrical and Automation Engineering, Nanjing Normal University, Nanjing, P. R. China;5. School of Science, Huzhou Teachers College, Huzhou, P. R. China |
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| Abstract: | In this paper, we are concerned with the predictor-based control of multi-input multi-output (MIMO) linear systems with input delay and disturbances. By taking the future values of disturbances into consideration, a new improved predictive scheme is proposed. Compared with the existing predictive schemes, our proposed predictive scheme can achieve a finite-time exact state prediction for some smooth disturbances including the constant disturbances, and a better disturbance attenuation can also be achieved for a large class of other time-varying disturbances. The attenuation of mismatched disturbances for second-order linear systems with input delay is also investigated by using our proposed predictor-based controller. |
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| Keywords: | Input delay predictor finite time disturbance observer mismatched disturbance |
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