Predictive observer–based control for lower triangular time-delay systems subject to mismatched disturbances

This paper develops a predictive observer–based control (PO-BC) scheme to address the output stabilization problem of a class of time-delay systems subject to mismatched complex disturbances. Initially, a novel predictive observer is proposed to anticipate future information related to both disturbances and system states. By integrating these predictions, a composite controller is constructed, comprising feedback and feedforward compensation. A systematic approach for selecting control parameters is presented to facilitate easy implementation. The theoretical analysis demonstrates that as long as appropriate parameters are selected, the predictive observer can accurately predict both disturbances and system states, and the system’s output can asymptotically converge to zero. Finally, the effectiveness of the proposed scheme is validated through sufficient simulations.