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Control of Nonlinear Systems with Input Delays and Disturbances Using State and Disturbance Sub-Predictors

Author

Listed:
  • Ba Huy Nguyen

    (Institute for Problems in Mechanical Engineering of the Russian Academy of Sciences (IPME RAS), 199178 Saint Petersburg, Russia)

  • The Dong Dang

    (Faculty of Control Systems and Robotics, ITMO University, 197101 Saint Petersburg, Russia)

  • Igor B. Furtat

    (Institute for Problems in Mechanical Engineering of the Russian Academy of Sciences (IPME RAS), 199178 Saint Petersburg, Russia
    Faculty of Mathematics and Mechanics, St Petersburg University, 199034 Saint Petersburg, Russia)

  • Anh Quan Dao

    (Faculty of Engineering and Technology, Hung Vuong University, Viet Tri City 29000, Vietnam)

  • Pavel A. Gushchin

    (Institute for Problems in Mechanical Engineering of the Russian Academy of Sciences (IPME RAS), 199178 Saint Petersburg, Russia)

Abstract

This paper proposes a new method for controlling nonlinear systems with input signal delays in the presence of external disturbances. The control law consists of two components: the first component, based on a sub-predictor for the controlled variable, stabilizes the unstable system, while the second component, which is based on a disturbance sub-predictor, compensates for external disturbances. The tracking error (stabilization error), which depends on the magnitude of the disturbances, can be reduced by increasing the order of the disturbance sub-predictor. Sufficient conditions for the stability of the closed-loop system with a given maximum delay are derived using the Lyapunov–Krasovskii method and formulated as linear matrix inequalities (LMIs). Numerical simulations are presented to demonstrate the effectiveness of the proposed method.

Suggested Citation

  • Ba Huy Nguyen & The Dong Dang & Igor B. Furtat & Anh Quan Dao & Pavel A. Gushchin, 2025. "Control of Nonlinear Systems with Input Delays and Disturbances Using State and Disturbance Sub-Predictors," Mathematics, MDPI, vol. 13(11), pages 1-15, May.
    • Handle: RePEc:gam:jmathe:v:13:y:2025:i:11:p:1713-:d:1662773
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