Output-feedback anti-disturbance predictor-based control for discrete-time systems with time-varying input delays

Abstract This paper investigates the robust stabilization of discrete-time systems with time-varying input delays and model uncertainties by predictor-based anti-disturbance output-feedback control strategies. Here, a novel predictor-feedback control combined with an extended state observer is proposed. The objective is to counteract the negative effects of input delays while actively rejecting disturbance signals typically encountered in engineering practice, such as steps or harmonics. Differently from previous approaches, unknown but bounded time-varying delays are taken into consideration. Moreover, the complexity of the algorithm for control synthesis is notably reduced. Finally, an illustrative example from the literature is provided to show that better robust performance can be achieved with the proposed method.