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.
Keywords:
uncertain systems,
linear systems,
time-varying systems,
control system analysis,
robust control,
input-output stability,
parameter estimation,
Time Delay Control (TDC),
Uncertainty and Disturbance Estimator (UDE),
Parametric Uncertainty,
Robust Control,
Interval Plants
Topics:
Robust control,
Signals,
Stability,
Uncertainty,
Errors,
Feedback,
Delays,
Oscillations,
Time delay systems
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