Optimal disturbance rejection for systems with time delays in high-speed networks
时滞系统在高速网络下的最优扰动抑制

The optimal disturbance rejection is considered for systems with delayed control and measurement in highspeed communication networks. Firstly, the discrete-time mathematical models for systems with delayed control and measurement are established. Based on a model transformation, we transform the system with delays to a formal system without delay. Then, the optimal control law with a state feedback, a disturbance feedforward and a control memory term is derived from a discrete Riccati equation and a Stein equation. The feedforward control term and the control memory term compensate for the effects of disturbances and the control delay, respectively. A dynamic control law with a disturbance feedforward, an output feedback and a control memory term is designed by constructing a reduced-order disturbance state observer, the observer makes the feedforward compensator physically realizable. Simulation results demonstrate the effectiveness of the optimal control law.