A Control Algorithm for an Object with Delayed Input Signal Based on Subpredictors of the Controlled Variable and Disturbance

Resumo

We propose a control algorithm for linear objects with a input time-delay in the presence of external disturbances. First, the state predictor and the disturbance predictor are used to synthesize the algorithm. The state predictor performs asymptotic prediction of the state vector, therefore, the closed-loop system contains the state delay. Thus, there exist an upper bound of the delay for which the closed-loop system remains stable. The disturbance predictor is designed under the assumption of the existence of bounded derivatives of the disturbance. Further, the state and disturbance subpredictors are constructed in the form of a serial connection of the corresponding predictors performing multi-step prediction. Sufficient conditions for the stability of the closed-loop system are obtained in the form of feasibility of linear matrix inequalities. We show simulation results that illustrate the effectiveness of the proposed scheme compared to some existing ones. Numerical examples show that the obtained sufficient conditions guarantee the stability of the controller based on the subpredictors with a larger delay than a controller based on predictors.