1991 Volume 27 Issue 3 Pages 320-325
Predictive control of which input is constructed by using the future state is one of the most effective design method for the controlled object with time delay. But if unmeasurable disturbance is inflicted on the controlled object with time delay, it causes inaccuracy of the predicted state. As a result, a bad effect unexpectedly occurs on the control system.
The objective of this paper is to propose a design method for the object with time delay under the influence of periodic input disturbance.
First, a new predictor removing the prediction error by using periodicity of disturbance is provided. In case the state of the object are unmeasurable, the state estimated by an observer is used for prediction. A setting method of the observer gain is proposed in order to reduce the estimation error arbitrarily.
Secondly, on the construction of feedback control system using the predicted state, a determination method of the feedback gain is described. By this feedback gain, the state of the object can approach into an arbitrarily small domain in the vicinity of the equilibrium point.
The observer gain and the feedback gain are determined by using the positive definite solution of the corresponding Riccati equation respectively. These solutions guarantee the practical stability of the control system.
Lastly, the effectiveness of this design method is verified by numerical simulations.
