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

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.