A generalized sequential subpredictor for input delayed systems under time-varying delay mismatches

Abstract

[EN] For input delayed systems, the sequential subpredictor (SSP) control scheme has the advantage that arbitrarily large delays can be tolerated in the control loop by introducing more and more subpredictors. However, an exact delay compensation is not possible in the presence of time-varying delay mismatches, and larger delays cannot therefore be obtained by increasing the number of subpredictors. To alleviate this limitation and enhance robustness against time-varying delay uncertainties, a generalized sequential subpredictor (SSP) control scheme is proposed by introducing new observer parameters that can be designed via Linear Matrix Inequalities (LMI) and Cone-Complementarity Linearization (CCL) algorithm. Finally, the effectiveness of the proposed method is illustrated by a simulation example.