Robust time delayed control systems with communication disturbance observer

Kenji Natori, Roberto Oboe, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution


A time delay compensation method based on the concept of network disturbance and communication disturbance observer has been proposed so far. The method has the same effectiveness as that of Smith predictor and the validity has been experimentally verified. Furthermore, the advantage of the method is that it works without delay time model. However, whereas the method has been practically applied in several situations, the robustness has never been studied so far. In this paper, we present robustness of the time delayed control systems with the time delay compensation method. Some problems caused by model uncertainty and constraint on cutoff frequency are firstly discussed. Then a time delayed control system with communication disturbance observer based on two-degree-of-freedom control structure is designed. The control system makes it possible to achieve zero steady-state error. Moreover, the transient response is designed easily by parameters of controllers. Here, the transient characteristic and the attenuation performance of model uncertainty can be designed separately. Simulation results verify the validity of the control system.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Number of pages6
Publication statusPublished - 2007
Event33rd Annual Conference of the IEEE Industrial Electronics Society, IECON - Taipei, Taiwan, Province of China
Duration: Nov 5 2007Nov 8 2007


Other33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
Country/TerritoryTaiwan, Province of China

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


Dive into the research topics of 'Robust time delayed control systems with communication disturbance observer'. Together they form a unique fingerprint.

Cite this