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Technical Briefs

Uncertainty and Disturbance Estimator–Based Control for Uncertain LTI-SISO Systems With State Delays

[+] Author and Article Information
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 Zhong2

Department of Aeronautical and Automotive Engineering, Loughborough University, Leicestershire, UK LE11 3TU; Department of Electrical Engineering and Electronics, University of Liverpool, Liverpool L69 3BX, UKzhongqc@ieee.org

2

Corresponding author.

J. Dyn. Sys., Meas., Control 133(2), 024502 (Feb 22, 2011) (6 pages) doi:10.1115/1.4003265 History: Received March 24, 2009; Revised September 23, 2010; Published February 22, 2011; Online February 22, 2011

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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Copyright © 2011 by American Society of Mechanical Engineers
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Figures

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Figure 1

The structure of a UDE controller

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Figure 2

Example 1: nominal responses

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Figure 3

Example 1: robust responses

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Figure 4

Example 1: the robust responses for different T

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Figure 5

Example 2: change in the operating point (upper) and an input disturbance (lower)

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Figure 6

Example 2: system responses

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Figure 7

Example 2: the effect of operating point changes on the tracking errors

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