The study is concerned with problem of optimal disturbance rejection for a class of discrete-time systems with multiple delayed inputs. In order to avoid the two-point boundary value (TPBV) problem with items of time-delay and time-advance caused by multiple delayed inputs, the discrete-time system with multiple delayed inputs is transformed into a delay-free system by introducing a variable transformation, and the original performance index is reformulated as a corresponding form without the explicit appearance of time-delay items. Then, the approximate optimal disturbance rejection controller (AODRC) is derived from Riccati equation and Stein equation based on the reduced system and reformulated performance index, which is combined with feedback item of system state, feedforward item of disturbances, and items of delayed inputs. Also, the existence and uniqueness of AODRC are proved, and the stability of the closed-loop system is analysed. Finally, numerical examples of disturbance rejection for jacket-type offshore structure and pure mathematical model are illustrated to validate the feasibility and effectiveness of the proposed approach.
Robust disturbance rejection for discrete-time systems having Magnitude and rate bounded inputs
