Disturbance Rejection for Cloud Control System Based on Equivalent -Input -Disturbance Approach

In this paper, a discrete-time equivalent-input-disturbance (DEID)-based networked predictive control approach is proposed to suppress the overall influences of packet loss, time-varying delay, and exogenous disturbances. A cloud -based magnetic levitation control system (CMLCS) for the study of CCS is first presented and analyzed. Then, a DEID-based networked predictive control approach is devised to suppress the influences of time-varying delay, packet loss, and exogenous disturbances and achieve high-performance control for CMLCS. Its main idea is that the effect caused by time delay is modeled as delay-induced disturbance (DID), and the DEM approach is proposed to estimate the overall influences of DID and exogenous disturbance. Then, a networked predictive controller based on a time event-driven strategy is designed to compensate for packet loss. Finally, several experimental case studies are performed to verify the effectiveness and superiority of the proposed DEMbased control algorithm, and the analytical method of DID.