Improved predictor-based control for disturbance attenuation of discrete-time systems with input delays

The problem of disturbance attenuation of discrete-time systems with input delays is studied in this paper. To reduce the prediction error caused by unknown disturbances, an improved predictor is presented. This proposed predictor is constructed using the Newdon series technique, which can actively estimate and mitigate the effect of disturbances. Additionally, the term between the actual state and the delayed prediction is introduced to enhance the accuracy of the prediction. Further, a predictor-based controller is presented to control the concerned system, and the ultimate bound of the state of the closed-loop system under the predictor-based controller is analyzed. Finally, a numerical example illustrates the effectiveness of the proposed method.