Disturbance Attenuation Control of Continuous‐Time Linear Input‐Delayed Systems Based on Parametric Predictors

ABSTRACT In this paper, a predictor is constructed by introducing a tuning parameter for continuous‐time systems with input delays subject to disturbances, and a predictor‐based control law is designed. When the disturbance is constant, the prediction error of the designed predictor is entirely eliminated. When the disturbance is time‐varying, the ultimate bound of the states in the closed‐loop system is obtained under the designed control law, and the performance of disturbance attenuation is analyzed. It is illustrated that the designed control law can achieve a better disturbance attenuation performance if the parameter is chosen within a certain interval.