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This paper presents a robustification algorithm for the optimal controller for unobserved linear system states with input delay, linear observations with delay confused with white Gaussian noises, and a quadratic criterion, which is based on integral sliding mode compensation of disturbances. The general principles of the integral sliding mode compensator design are modified to yield the basic control algorithm oriented to time-delay systems, which is then applied to robustify the optimal controller. As a result, the sliding mode compensating control leading to suppression of the disturbances from the initial time moment is designed. The obtained robust control algorithm is verified by simulations in the illustrative example.
Date of Conference: 12-15 Dec. 2005