1. Robust Predictive Extended State Observer for a Class of Nonlinear Systems with Time-Varying Input Delay
- Author
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Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica, Israel Science Foundation, Universitat Politècnica de València, Agencia Estatal de Investigación, Sanz Diaz, Ricardo, García Gil, Pedro José, Fridman, Emilia, Albertos Pérez, Pedro, Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica, Israel Science Foundation, Universitat Politècnica de València, Agencia Estatal de Investigación, Sanz Diaz, Ricardo, García Gil, Pedro José, Fridman, Emilia, and Albertos Pérez, Pedro
- Abstract
[EN] 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.
- Published
- 2020