The issue of anti-disturbance control for semi-Markovian jump systems (S-MJSs) with saturation via disturbance observer is investigated in this paper. Compared with the existing results, time-varying delay, actuator saturation, exogenous disturbance and generally uncertain transition rates are all considered in S-MJSs. Firstly, the sufficient condition of stochastic stability based on S-MJSs with time-varying delay is proposed by stochastic Lyapunov–Krasovskii functional. Secondly, disturbance observer-based control is applied in S-MJSs for addressing exogenous disturbance, and the controller is designed to guarantee the system performance. After that, the maximum estimation of domain of attraction is solved by an optimisation problem. Finally, two practical cases are introduced for testifying the accuracy of the proposed methods.

研究了通过扰动观测器饱和的半马尔可夫跳跃系统（S-MJSs）的抗扰动控制问题。与现有结果相比，S-MJS中考虑了时变延迟，执行器饱和，外源干扰和通常不确定的过渡速率。首先，利用随机Lyapunov–Krasovskii函数，提出了基于时变时滞的S-MJSs的随机稳定性的充分条件。其次，在S-MJS中应用基于干扰观测器的控制来解决外源性干扰，并设计了控制器以保证系统性能。此后，通过优化问题解决了吸引域的最大估计。最后，介绍了两个实际案例以证明所提方法的准确性。