Time-delay compensation for time-varying delayed systems using extended network disturbance

Design of a time-delay compensation based on the extended network disturbance (END) with disturbance observers for nonlinear systems under time-varying delays is presented. The distinguished advantage of the approach is that the time-delay behavior in systems can be viewed as a result of including END into a system without delays. This allows the proposed method to work without any delay estimation. In addition, we apply a proportional, multiple-integral and derivative observer to estimate the network disturbance. The proposed strategy is verified under the congestion control design for a local wired network system with time-varying delayed states and inputs.