This paper proposes a robust control strategy for uncertain LTI systems. The strategy is based on an uncertainty and disturbance estimator (UDE). It brings similar performance as the time-delay control (TDC). The advantages over TDC are: (i) no delay is introduced into the system; (ii) there are no oscillations in the control signal; and (iii) there is no need of measuring the derivatives of the state vector. The robust stability of LTI-SISO systems is analyzed, and simulations are given to show the effectiveness of the UDE-based control with a comparison made with TDC.
Control of Uncertain LTI Systems Based on an Uncertainty and Disturbance Estimator
Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division November 27, 2002; final revision, March 29, 2004. Review conducted by N. Olgac.
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Zhong, Q., and Rees, D. (March 11, 2005). "Control of Uncertain LTI Systems Based on an Uncertainty and Disturbance Estimator ." ASME. J. Dyn. Sys., Meas., Control. December 2004; 126(4): 905–910. https://doi.org/10.1115/1.1850529
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