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In this paper, a disturbance compensation method for MIMO linear systems with state delays and delays in the control channels is introduced. First, a modified unknown input observer (UIO) is constructed to estimate the state vector of the system. Subsequently, based on this estimated value, an external disturbance observer is designed. Finally, all these estimated values will be utilized to synthesize the closed-loop control law for the system. The external disturbance is assumed to be the output of a linear generator. The rigor of the algorithm is proven mathematically, and simulations are carried out in MATLAB/Simulink to demonstrate the effectiveness of the proposed method.

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

  • 会议论文

  • 发表日期：

    2026年

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  • Bui Van Huan,
  • Alexey A. Margun,
  • Artem S. Kremlev,
  • Dmitrii Dobriborsci,
  • Nguyen Khac Tung

摘要

In this paper, a disturbance compensation method for MIMO linear systems with state delays and delays in the control channels is introduced. First, a modified unknown input observer (UIO) is constructed to estimate the state vector of the system. Subsequently, based on this estimated value, an external disturbance observer is designed. Finally, all these estimated values will be utilized to synthesize the closed-loop control law for the system. The external disturbance is assumed to be the output of a linear generator. The rigor of the algorithm is proven mathematically, and simulations are carried out in MATLAB/Simulink to demonstrate the effectiveness of the proposed method.