Observer-based optimal disturbance-rejection for linear systems with time-delay in control action
控制时滞系统基于观测器的最优扰动抑制

The optimal disturbance-rejection for linear systems with time-delay in control action and external persistent disturbances is considered. By using the model transformation, this system is transformed into a non-delay one. The existence and uniqueness of the optimal control law are proved and the optimal control law with a feedforward compensator and a control memory term is derived from a Riccati equation and Sylvester equations. The feedforward control term and the control memory term compensate for the effects of disturbances and the time-delay in control action, respectively. A disturbance-observer is developed to make the approximate feedforward compensator physically realizable. Simulation results demonstrate the effectiveness of the designed control law.