Smith Predictor Based Robust Control with Fuzzj Estimator for Uncertain Time-Delayed Systems

摘要

In this paper, a novel robust control method is proposed for uncertain time-delayed systems. The goal is to guarantee system stability and robustness against modeling errors. A fuzzy estimator is developed to predict the uncertain plant time-delay. Smith predictor is exploited. An adaptive tuning law is developed to further improve the control system performance. The proposed robust control method is successfully applied to a planetary train type inverted pendulum control system. Simulation results show that the approach is indeed effective. System robustness as well as stability is achieved.