一类含输入时滞非线性系统的干扰观测器控制

基于干扰观测器控制（Disturbance-observer-based control，DOBC）作为一种有效的干扰补偿策略取得了广泛的应用. 然而，当干扰和控制输入不能在同一时刻进入控制通道时，外部信号很难得到实时估计和补偿.提出一种复合DOBC结构，包括干扰观测、干扰预测和反馈调节三个部分.该方法的特点是即使一类非线性系统存在输入时滞，同样可以继承传统DOBC的优点. 最后，通过构造辅助观测器给出了预测误差以及复合闭环系统的稳定性分析方法.

Disturbance Observer Based Control for a Class of Nonlinear Systems with Input Time-delay

Disturbance-observer-based control (DOBC) has been considered as an effective disturbance rejection scheme in applications. However, if the control input and disturbance cannot enter the control channel at the same time, it will be difficult to estimate and compensate the exogenous signals in real time. A compound DOBC method, consisting of a disturbance observer, disturbance prediction and a feedback regulation part, is thus developed. One novel feature of the proposed method is that the merits of DOBC can be inherited for a class of nonlinear systems with input time-delay. Moreover, stability analysis for both the dynamic prediction error system and the composite closed-loop system is provided by designing an auxiliary observer.