Optimal disturbances rejection control for singularly perturbed systems with time-delay

摘要

The optimal control design for singularly perturbed time-delay systems affected by external distur-bances is considered.Based on the decomposition theory of singular perturbation,the system is decom-posed into a fast subsystem without time-delay and a slow time-delay subsystem with disturbances.Theoptimal disturbances rejection control law of the slow subsystem is obtained by using the successive ap-proximation approach(SAA)and feedforward compensation method.Further,the feedforward and feed-back composite control(FFCC)law for the original problem is developed.The FFCC law consists of lin-ear analytic terms and a time-delay compensation term which is the limit of the solution sequence of theadjoint vector equations.A disturbance observer is introduced to make the FFCC law physically realiz-able.Numerical examples show that the proposed algorithm is effective.