High performance tracking controller for the class of uncertain Discrete-Time system with input delay

Abstract

In the general composite nonlinear feedback procedure the control input is assumed to be computed and applied at the same instant. However, the input delay adversely affects the performance of the system. In this paper the high performance controller design based on the predicted states for discrete-time input delay system with disturbance is presented and simulation of yaw angular displacement control of mini-helicopter is illustrated. © 2011 Springer-Verlag Berlin Heidelberg.