A Combined Simple Adaptive Control with Disturbance Observer for a Class of Time-Delay Systems

Young Ik SON  Goo-Jong JEONG  In Hyuk KIM  

IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences   Vol.E93-A   No.2   pp.553-556
Publication Date: 2010/02/01
Online ISSN: 1745-1337
DOI: 10.1587/transfun.E93.A.553
Print ISSN: 0916-8508
Type of Manuscript: LETTER
Category: Systems and Control
time-delay,  simple adaptive control,  disturbance observer,  non-minimum phase,  

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Disturbance attenuation for a class of time-delay systems is performed by a combined simple adaptive control (SAC) with a new configuration of disturbance observer (DOB). The nominal system results from the Pade approximation, which is in the form of a non-minimum phase LTI system. For the implementation of SAC and DOB, two parallel feedforward compensators (PFC) are designed with the inverses of PD- and PID-controller, respectively. Simulation results show the effectiveness of the proposed controller to compensate the disturbance response and uncertain delay time.