Chapter 4 - On Unknown Input Observer Design for Linear Systems With Delays in States and Inputs

Abstract

In this chapter, the design of delay-dependent and delay-independent full-order unknown input observers is proposed for the class of linear time-invariant systems with state and input delays. The necessary and sufficient conditions for asymptotic stability, and existence conditions of the two observers, are provided. The efficiency of the proposed algorithms is illustrated using the quadruple-tank benchmark, in which the case of the nonminimum phase model is considered.