Predictor-Based Extended State Observer for Disturbance Rejection Control of Multirate Systems With Measurement Delay

This article investigates the multirate disturbance rejection control problem for linear systems with mismatched and measurement delay using predictor-based extended state observer. A new observer together output predictor is first designed to obtain estimation values of system disturbance, where used compensate influences sampling output. To attenuate undesirable influence we then design a sampled-data robust controller compensation, updating rate proposed allowed be different from that sensor. Thanks prediction disturbance/uncertainty attenuation techniques, property resultant closed-loop enhanced despite delay. Some sufficient conditions are presented ensure stability systems. We finally consider application visual servoing an inertially stabilized platform, experiment results verify superiorities method in article.