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Rejection of mismatched disturbances for systems with input delay via a predictive extended state observer. (English) Zbl 1390.93262
Summary: The problem of output stabilization and disturbance rejection for input-delayed systems is tackled in this work. First, a suitable transformation is introduced to translate mismatched disturbances into an equivalent input disturbance. Then, an extended state observer is combined with a predictive observer structure to obtain a future estimation of both the state and the disturbance. A disturbance model is assumed to be known but attenuation of unmodeled components is also considered. The stabilization is proved via Lyapunov-Krasovskii functionals, leading to sufficient conditions in terms of linear matrix inequalities for the closed-loop analysis and parameter tuning. The proposed strategy is illustrated through a numerical example.

MSC:
93B35 Sensitivity (robustness)
93B07 Observability
93C15 Control/observation systems governed by ordinary differential equations
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