Enhancement of disturbance-rejection performance of uncertain input-delay systems: A disturbance predictor approach

Pan Yu, Min Wu, Jinhua She, Kang Zhi Liu, Yosuke Nakanishi

Research output: Contribution to journalArticle


To suppress disturbances in uncertain tracking control systems with an input-delay, a disturbance predictor based on a high-order generalised extended-state observer is devised in this study. A smooth enough approximation of the disturbance is first made, then the approximation ahead of delay-time is predicted. The construction of the disturbance predictor is based on a truncated Taylor polynomial. To facilitate the analysis and design of the closed-loop control system, control gains for the nominal plant are designed in advance. Then the stability analysis for the closed-loop system is conducted, which yields a robust stability condition. As the disturbance predictor takes into consideration the influence of the input-delay, the presented method enables the enhancement of the disturbance-rejection performance. Finally, comparisons of the developed method with major methods in this field are conducted to validate the developed method and to demonstrate its advantages.

Original languageEnglish
Pages (from-to)1673-1682
Number of pages10
JournalIET Control Theory and Applications
Issue number12
Publication statusPublished - 2018 Aug 14


ASJC Scopus subject areas

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Control and Optimization
  • Electrical and Electronic Engineering

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