Outlier-resistant bserver-based H∞ PID control under stochastic communication protocol

This paper addresses the H-infinity proportional-integral-derivative control problem based on the outlier-resistant observer for discrete-time systems under the schedule of stochastic communication protocol (SCP). A novel observer with saturation constraint is structured in order to reduce the negative influence of abnormal measurement outputs, where the saturation limit is dynamically adjusted in the light of the observation errors. For the sake of avoiding the phenomenon of data congestion, the SCP is deployed to orchestrate the order of data transmission in the sensor-to-observer channel. In view of the Lyapunov stability theory and the orthogonal decomposition method, sufficient conditions are obtained to make sure that the exponential mean-square stability is met and the H-infinity performance index is satisfied. Eventually, a simulation example is provided to confirm the effectiveness and correctness of the presented controller design algorithm. (C) 2021 Elsevier Inc. All rights reserved.