Predictor-based anti-disturbance tracking control for non-linear input time-delay control systems

In this paper, a predictor-based anti-disturbance output-tracking controller is designed to assure the desired output tracking performance for a class of non-linear control systems by counteracting the effects of input time delays and disturbances by incorporating Smith predictor, internal mode tracking control and generalised extended state observer. Initially, a Smith predictor is implemented to counteract the influence of input time delay on the plant's output tracking responses. Consequently, a generalised extended state observer is incorporated into the closed-loop structure to estimate system states and disturbances by alleviating the disturbance effects on tracking outcomes. Altogether, by merging together the disturbance rejection, delay compensation and tracking control algorithm, an unified generalised extended state observer-based predictive anti-disturbance output-tracking controller is designed for non-linear systems. Further, by following the Lyapunov–Krasovskii functional approach, the necessary criterion for the asymptotic stabilisation of the addressed model is specified in the form of linear-matrix inequalities. In the final analysis, to establish the competency and effectiveness of the endorsed controller, we furnish a numerical example in the simulation section.