Compensation of external disturbances for MIMO systems with control delay

The problem of compensation of external disturbing influences for MIMO system with input delay is important and relevant. A solution to this problem is proposed in the problems of dynamic objects control and in a number of others. The proposed method is based on the principle of an internal model and requires the identification of perturbation parameters. At the first stage, a scheme for extracting a disturbance is presented which is represented as a sinusoidal signal with an unknown frequency, amplitude, and phase. At the second stage, the problem of identifying the frequencies of a sinusoidal and multisinusoidal signal is solved. In the last stage, an algorithm for stabilizing the state of the object to zero is developed using feedback. A new scheme for compensating external disturbances for a MIMO system with an input delay is proposed. A new algorithm for identifying the frequencies of a multisinusoidal signal is proposed. The analysis of the possibilities of the proposed estimation method using computer simulation in the MATLAB Simulink environment is carried out. The developed method can be effectively applied to a wide class of applied tasks related to the control of robots and robotic manipulators for various purposes.