This article presents a method of suppressing packet losses and exogenous disturbances for a networked control system (NCS) subject to network-introduced delays. The NCS has two feedback loops: 1) a local one and 2) a main one. The local feedback loop contains a state observer, an equivalent-input-disturbance (EID) estimator, and state feedback. It is used to ensure prompt disturbance suppression. The controller in the main feedback loop contains an internal model to track a reference input. The system is divided into two subsystems for the design of controllers. The state-observer gain is designed for one subsystem using the concept of perfect regulation to ensure disturbance estimation performance. The state-feedback gains of the other subsystem are designed based on a stability condition in the form of a linear matrix inequality (LMI). A tracking specification is embedded in the LMI-based stability condition to ensure satisfactory tracking performance. A case study on a two-finger robot hand control system and a comparison with a Smith-EID and H∞H_{\infty } controller approach validate the effectiveness and superiority of the presented method.

中文翻译：

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基于等效输入扰动方法的网络控制系统中丢包和扰动的抑制


本文提出了一种抑制网络控制系统 (NCS) 遭受网络引入延迟的数据包丢失和外源干扰的方法。 NCS 有两个反馈回路：1) 本地反馈回路和 2) 主反馈回路。局部反馈环路包含状态观察器、等效输入扰动 (EID) 估计器和状态反馈。它用于确保及时抑制干扰。主反馈回路中的控制器包含一个内部模型来跟踪参考输入。该系统分为两个子系统进行控制器的设计。状态观测器增益是为一个子系统设计的，采用完美调节的概念，以确保扰动估计性能。另一个子系统的状态反馈增益是基于线性矩阵不等式（LMI）形式的稳定性条件来设计的。基于 LMI 的稳定性条件中嵌入了跟踪规范，以确保令人满意的跟踪性能。通过对两指机器人手控制系统的案例研究以及与 Smith-EID 和 H∞H_{\infty } 控制器方法的比较验证了该方法的有效性和优越性。