Model-error feedback for systems with time-varying delay based on mixed H2/H control

Naoya Uematsu, Tooru Suhara, Yutaka Uchimura

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


This paper proposes amethod that uses model-error feedback to improve the steady-state performance of a communication disturbance observer (CDOB) and a controller design based on the stability theorem with a Lyapunov-Krasovskii functional. The conventional CDOB faces the problem of a steady-state error due to model error, and the stability of a system with time-varying delay is not guaranteed. To solve the issue, the controller based on the mixed H2/H control problem is introduced. The paper presents a solution that uses a controller design based on the Lyapunov stability theorem and model error feedback.

Original languageEnglish
Pages (from-to)245-252
Number of pages8
JournalIEEJ Journal of Industry Applications
Issue number3
Publication statusPublished - 2016


  • Communication disturbance observer
  • Linear matrix inequality
  • Lyapunov-Krasovskii functional
  • Model error
  • Time delay systems

ASJC Scopus subject areas

  • Automotive Engineering
  • Energy Engineering and Power Technology
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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