Disturbance rejection based on a state feedback controller with “delay scheduling”

The “delay scheduling” procedure is a recent concept for the design of control system. “Delay scheduling” strategy manipulates existing delays in the feedback as a control parameter which is increasing in order to recover stability. Indeed, the system should have many stable regions in the time delays domain. To do this, a recent procedure, Cluster Treatment of Characteristic Roots (CTCR) is deployed, allowing the exact determination of the complete picture of stable regions in time delays space. Starting from “delay scheduling” and CTCR methods, the objective of the proposed approach is to track desired trajectories even in presence of time delay and static disturbances at the output of system.