A Model-Predictive-Enabled Equivalent-Input-Disturbance Approach for Disturbance Rejection

Abstract

This paper presents a model-predictive-enabled equivalent-input-disturbance (MPEID) method for disturbance rejection. An EID estimator with a state observer estimates the effect of disturbances in a system. The disturbance estimation will not be directly added to the input channel for disturbance rejection. A cost function that considers the disturbance estimation is designed. An MPC controller calculates an optimal control input by minimizing the cost function. The stability condition of the closed-loop system is analyzed based on the Lyapunov stability theory. Simulation results show that our method has better disturbance-rejection performance than an MPC method when the control input is similar.