In this paper, a robust control strategy based on the uncertainty and disturbance estimator (UDE) is proposed for uncertain Linear Time Invariant-Single Input Single Output (LTI-SISO) systems with state delays. The knowledge of the bounds of uncertainties and disturbances is not needed during the design process although it is required for the stability analysis. Both the cases with known and unknown delays are considered. In the case of unknown delays, the terms involving the delays are treated as additional disturbances to the system. The robust stability of the closed-loop system is analyzed in detail, and a stability condition is proposed. Simulations are given to demonstrate the excellent tracking and disturbance rejection capabilities of the UDE-based control strategy.
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March 2011
Technical Briefs
Uncertainty and Disturbance Estimator–Based Control for Uncertain LTI-SISO Systems With State Delays
R. K. Stobart,
R. K. Stobart
Department of Aeronautical and Automotive Engineering,
Loughborough University
, Leicestershire LE11 3TU, UK
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Alon Kuperman,
Alon Kuperman
Department of Electrical Engineering and Electronics,
Ariel University Center of Samaria
, Kiryat Hamada, Ariel 40700, Israel; Department of Electrical Engineering and Electronics, University of Liverpool
, Liverpool L69 3BX, UK
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Qing-Chang Zhong
Qing-Chang Zhong
Department of Aeronautical and Automotive Engineering,
e-mail: zhongqc@ieee.org
Loughborough University
, Leicestershire, UK LE11 3TU; Department of Electrical Engineering and Electronics, University of Liverpool
, Liverpool L69 3BX, UK
Search for other works by this author on:
R. K. Stobart
Department of Aeronautical and Automotive Engineering,
Loughborough University
, Leicestershire LE11 3TU, UK
Alon Kuperman
Department of Electrical Engineering and Electronics,
Ariel University Center of Samaria
, Kiryat Hamada, Ariel 40700, Israel; Department of Electrical Engineering and Electronics, University of Liverpool
, Liverpool L69 3BX, UK
Qing-Chang Zhong
Department of Aeronautical and Automotive Engineering,
Loughborough University
, Leicestershire, UK LE11 3TU; Department of Electrical Engineering and Electronics, University of Liverpool
, Liverpool L69 3BX, UKe-mail: zhongqc@ieee.org
J. Dyn. Sys., Meas., Control. Mar 2011, 133(2): 024502 (6 pages)
Published Online: February 22, 2011
Article history
Received:
March 24, 2009
Revised:
September 23, 2010
Online:
February 22, 2011
Published:
February 22, 2011
Citation
Stobart, R. K., Kuperman, A., and Zhong, Q. (February 22, 2011). "Uncertainty and Disturbance Estimator–Based Control for Uncertain LTI-SISO Systems With State Delays." ASME. J. Dyn. Sys., Meas., Control. March 2011; 133(2): 024502. https://doi.org/10.1115/1.4003265
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