Exact predictor feedbacks for multi-input LTI systems with distinct input delays

• Daisuke Tsubakino ^[1] ; Miroslav Krstic ^[2] ; Tiago Roux Oliveira ^[3]
  1. [1] Nagoya University

     Nagoya University

     Naka-ku, Japón

     
  2. [2] University of California, San Diego

     University of California, San Diego

     Estados Unidos

     
  3. [3] State University of Rio de Janeiro, Brazil

  Mostrar afiliaciones +
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 71, 2016, págs. 143-150
• Idioma: inglés
• Enlaces
  • Texto completo
• Resumen

  • This paper proposes a predictor-based state feedback controller for multi-input linear time-invariant (LTI) systems with different time delays in each individual input channel. The controller is derived based on the backstepping method. Since the conventional backstepping transformation is not applicable to the systems due to the differences among delays, a modified transformation is introduced. This transformation enables us to design an exponentially stabilizing controller under which the plant behaves as if the delays were absent after a finite time interval. As a dual of the controller design, we also present the observer design for multi-output LTI systems with distinct sensor delays. A numerical simulation confirms the performance of the proposed controller.