Robust Exact Predictive Scheme for Output-Feedback Control of Input-Delay Systems With Unmatched Sinusoidal Disturbances

Predictor-based control has been widely used to compensate input delays. However, the conventional predictors such as Smith predictor, usually have poor robustness with respect to system disturbances. In this article, a novel robust predictive scheme, that can achieve exact state prediction in finite-time, is proposed for linear time-invariant (LTI) systems subject to input delay and unmatched sinusoidal disturbances. By combining the super-twisting technique with the proposed predictive scheme, we also propose a new predictor-based output-feedback super-twisting controller which can compensate arbitrary long input delay and eliminate the effect of unmatched disturbances from the corresponding state completely. The simulation comparison shows the effectiveness of the theoretical results.