Optimal Control of Nonlinear Time-Delay Systems with Persistent Disturbances

This paper is concerned with the optimal control of a class of nonlinear time-delay systems affected by external persistent disturbances. A feedforward and feedback optimal control (FFOC) law, consisting of analytical linear feedforward and feedback terms and the limit of a compensation sequence, is obtained by a successive approximation approach (SAA). In order to obtain a physically realizable feedforward control, a disturbance observer is introduced in the exosystem. Simulation results demonstrate the validity of the SAA and the robustness of the FFOC.

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