Delay Estimation and Predictive Control of Uncertain Systems With Input Delay: Application to a DC Motor
Open accessAbstract
It is well known that standard predictive techniques are not very robust to parameter uncertainties and to external disturbances. Furthermore, they require the exact knowledge of the delay. In practice, these constraints are rarely satisfied. In this paper, solutions are presented to allow the use of predictive control in the presence of external disturbances, parameter uncertainties, and an unknown input delay. First, a recent predictive control method developed to attenuate the effect of external disturbances is shown to be also robust to parameter uncertainties. In addition, a delay estimator is presented to estimate unknown time-varying delays. Theoretical results are widely illustrated through experimental tests on a dc motor.
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If time delays are left unattended, they degrade control performance or even drive the system to instability.
“Furthermore, if these delays are left unattended, it degrades the control performance or even drives the system to instability [9,10].”
From Novel reaching law based predictive sliding mode control for lateral motion control of in‐wheel motor drive electric vehicle with delay estimation (2024) · cites this paper as [9]
The Introduction (p. 2) says that performance was clearly degraded as delay increased in a system without predictive control. That supports the performance part of the claim, but the passages do not say that unattended delays drive the system to instability. (LLM, conf=0.84)
Experimental — accuracy not yet measuredThe convergence proof of the delay estimator is presented in [9].
“The convergence proof of the delay estimator is presented in [9].”
From Novel reaching law based predictive sliding mode control for lateral motion control of in‐wheel motor drive electric vehicle with delay estimation (2024) · cites this paper as [9]
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- Authors
- Lechappe, V., Rouquet, S., Gonzalez, A., Plestan, F., Leon, J. D., Moulay, E., & Glumineau, A.
- Affiliations
- École Centrale de Nantes (FR)
- Centre National de la Recherche Scientifique (FR)
- Venue
- IEEE Transactions on Industrial Electronics
- Published
- 2016-09
- Volume
- 63
- Issue
- 9
- Pages
- 5849-5857
- ISSN
- 0278-0046 (ISSN-L)
- 1557-9948
- OpenAlex
- W2344405548
- Cited by
- 87
- References
- 37
- Citations by year
- 2026: 6 · 2025: 6 · 2024: 7 · 2023: 5 · 2022: 13 · 2021: 8 · 2020: 8 · 2019: 15 · 2018: 10 · 2017: 7 · 2016: 2
- FWCI
- 9.53
- Type
- journal article
- Language
- en
- Open access
- green
- hal.science
- Locations
- IEEE Transactions on Industrial Electronics (publishedVersion)
- HAL (submittedVersion, other-oa)
- Funders
- bilateral project Mexico–Francia ((PCP 2013) 209488)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Advanced Control Systems Optimization
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Advanced Control Systems Design
- Keywords
- time delay estimation, predictive control, input delay, parameter uncertainty, external disturbances, robust control, time-varying delays, DC motor, disturbance rejection
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