Journal
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
Volume 21, Issue 1, Pages 79-92Publisher
WILEY
DOI: 10.1002/rnc.1578
Keywords
state delays; uncertainty and disturbance estimator (UDE); robust control; nonlinear systems; CSTR
Funding
- EPSRC [EP/E055877/1]
- Royal Academy of Engineering
- Leverhulme Trust
- Engineering and Physical Sciences Research Council [EP/E055877/1] Funding Source: researchfish
- EPSRC [EP/E055877/1] Funding Source: UKRI
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In this article, one linear and one nonlinear robust control strategies are proposed for uncertain nonlinear continuous-time systems with disturbances and state delays. The approaches are based on the uncertainty and disturbance estimator (UDE) introduced in 2004. In the case of a linear controller, the terms containing the nonlinear functions and time delays are treated as additional disturbances to the system. In the case of a nonlinear controller, both known and unknown delay scenarios are considered. In the case of an unknown time delay, the terms containing the delay are treated as additional disturbances to the system. The algorithms provide excellent tracking and disturbance rejection performance. Simulations are given to show the effectiveness of the strategies, first via a simple example and second via an application to a continuous stirred tank reactor system. Copyright (C) 2010 John Wiley & Sons, Ltd.
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