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ADAPTIVE ROBUST DISTURBANCE COMPENSATION IN LINEAR SYSTEMS WITH DELAY

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 Subject of Research. The paper considers the problem of disturbance compensation for the class of linear time-invariant plants with known parameters and delay.Method. The disturbance is presented as a sum of irregular and regular components. An irregular component is treated as an unknown bounded time function. A regular component is described as unmeasurable output of linear autonomous model (exosystem) with known order and unknown parameters. The problem is resolved with the use of parametrized representation of disturbance designed by means of exosystem state observer and predictor of this state that finally allows applying certainty equivalence principle. In order to remove undesirable influence of delay, a modified adaptation algorithm is created. The algorithm is based on augmentation of the plant state vector and generates advanced adjustable parameters for control. Robust modification of adaptive algorithm is used for keeping stability of closed-loop system in the presence of irregular disturbance. As distinct from widespread approaches the proposed algorithm does not require identification of disturbance parameters and gives the possibility to discard from the control system such restrictions as adaptation gain margin and time delay margin. Main Results. Simulation results obtained in MATLAB/Simulink environment are presented to demonstrate the performance of the proposed approach. The results illustrate the boundedness of all signals in the closed-loop system in the presence of external disturbance. It is shown that the proposed idea enables keeping system stability for different values of input delay. Practical Relevance. Thealgorithm of adaptive compensation is recommended for application in such problems as: the problem of control for active vibration protection devices wherein several dominating harmonics can be taken from the spectrum of vibration signal, control problems of robotic systems with periodical behavior, the problems of ship roll compensation, control problems of space plants in the presence of uncontrollable rotation.

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