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A robust model predictive control approach for a class of uncertain continuous systems with nonlinear disturbance and state-delay is proposed. The designed robust controller guarantees the closed-loop system asymptotically stable and the receding horizon performance index online minimum. Based on receding optimization principle of predictive control, the infinite time domain optimization problem is...
Disturbance observer (DOB)-based controller design is one of the most popular methods in the field of motion control. This paper presents a design method for the disturbance observers to satisfy closed loop performance specifications, provided that the main feedback controller is known. Unlike the conventional methods, the proposed DOB design method takes into account the influence from not only disturbance...
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