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Disturbance compensation based on harmonic injection switching for unknown time-delay systems.

Xinyu Wen¹, Jia Guo¹, Shengquan Li²

¹School of Intelligent Manufacturing Engineering, Institute of Intelligent Low-Altitude Systems, Shanxi University of Electronic Science and Technology, Linfen, Shanxi, China; Taiyuan University of Science and Technology, Taiyuan, Shanxi, China.

ISA Transactions

|March 28, 2026

Summary

This study presents a novel disturbance rejection strategy for control systems with unknown input delays and periodic disturbances. The method achieves asymptotic compensation without needing precise delay or frequency estimates.

Keywords:

Disturbance reconstruction and prediction Disturbance rejection Input time-delay Switching strategy

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Area of Science:

Control Systems Engineering
Signal Processing

Background:

Unknown input time-delay and periodic disturbances pose significant challenges in control system stability and performance.
Existing methods often require precise parameter estimation or known upper bounds for delay, limiting their applicability.

Purpose of the Study:

To develop a robust disturbance rejection strategy for systems with unknown input delays and periodic disturbances.
To achieve asymptotic compensation without relying on exact parameter values or known delay bounds.

Main Methods:

Design of a characteristic observer to estimate parameters related to delay time and disturbance frequency.
Development of switching criteria to validate estimated parameter regions.
Utilizing reliable delay characteristics for disturbance reconstruction and prediction.

Main Results:

The proposed method effectively reconstructs and predicts periodic disturbances.
Asymptotic compensation is achieved even with imprecise parameter estimates.
Quantitative stability analysis is enabled, unlike approximation approaches.

Conclusions:

The novel strategy offers a robust solution for disturbance rejection in systems with unknown input delays.
The method's independence from precise parameter knowledge and delay bounds enhances its practical applicability.
Demonstrated effectiveness through a numerical example validates the proposed approach.