Adaptive Direct Compensation of External Disturbances for MIMO Linear Systems with State-Delay

Huan V. Bui, Alexey A. Margun, Artem S. Kremlev, Dmitrii Dobriborsci

Abstract: In the paper we propose a new method for compensation of external disturbances in MIMO linear systems with unmeasured and delayed state vector. A state observer is used to estimate the state vector, which used in another external disturbance observer. All these estimates are used in a control law to ensure asymptotic convergence of the system outputs to zero and boundedness of all the closed loop signals. Proposed method is based on the use of the internal model principle and the extended error adaptation algorithm. It is assumed that the disturbance is the output of an autonomous linear generator with unknown parameters. To focus on compensation of external disturbances, it is assumed that the system is stable and the delay is known constant. The performance of the obtained results is confirmed using computer simulation in MATLAB Simulink.