Model-error feedback for time-delay systems with communication disturbance observer

This paper proposes a method to use modeling-error feedback, to improve the steady-state error due to the model error of a communication disturbance observer, along with a design of a controller based on the stability theorem of Lyapunov. In the conventional method the communication disturbance observer has a problem because steady-state error occurs owing to model error, and the stability is impaired in the trade-off and the steady improvement system. This problem is solved by using a controller design based on the Lyapunov stability theorem and model error feedback.