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Articles

Robust predictive extended state observer for a class of nonlinear systems with time-varying input delay

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Pages 217-225 | Received 02 Mar 2018, Accepted 11 Nov 2018, Published online: 08 Jan 2019
 

ABSTRACT

This paper deals with asymptotic stabilisation of a class of nonlinear input-delayed systems via dynamic output feedback in the presence of disturbances. The proposed strategy has the structure of an observer-based control law, in which the observer estimates and predicts both the plant state and the external disturbance. A nominal delay value is assumed to be known and stability conditions in terms of linear matrix inequalities are derived for fast-varying delay uncertainties. Asymptotic stability is achieved if the disturbance or the time delay is constant. The controller design problem is also addressed and a numerical example with an unstable system is provided to illustrate the usefulness of the proposed strategy.

Disclosure statement

No potential conflict of interest was reported by the authors.

Notes

1 The equality zj1(thj)z¯(th/mhj)=z~j(th/m)z~j1(th/m) was used to derive (Equation12), which can be obtained by subtracting z~j(t) and z~j1(t) as defined in (Equation10), delaying the resulting expression by h/m units of time, and using the fact that hj1+h/m=hj.

Additional information

Funding

This work was partially supported by: Ministerio de Economía y Competitividad, Spain (TIN2017-86520-C3-1-R); Universitat Politècnica de València (FPI-UPV 2014 PhD Grant); and Israel Science Foundation (Grant No. 1128/14).

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