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Prediction-observer Scheme for Linear Systems with Input-output Time-delay
Varinia Fragoso-Rubio,Martín Velasco-Villa,Miguel A. Hernández-Pérez,Basilio del Muro-Cuéllar,Juan Francisco Márquez-Rubio 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.8
This work deals with the prediction and control problems associated with a class of linear systems with time-delay at the input-output path. A general prediction observer scheme that estimates the future value of the delayed system from the output is proposed. Later, a full-information predictor-observer is introduced and the convergence of the estimated future values is formally proven for a time-delay τ of any size by increasing the dimension of the proposed predictor-observer. The estimated future state is used to design a feedback law that compensates the delay effects on the original system. The performance of the prediction-observation control strategy is shown by means of numerical simulations. Thus, it is illustrated that the performance of the proposed full-information predictor-observer is improved with respect to the sequential sub-predictors previously presented in the literature.