Optimal disturbance rejection for the status delay systems with time delay in control action

The optimal control of disturbance-rejection for the status delay system with time delay in control action is researched. First of all, the system is transformed into status delay system without time delay in control action. In accordance with the law of optimal control, the system is converted into two point boundary value (TPBV) problem. By using a successive approximation approach, we obtain a control vector sequence which converges at the law of original system. Through intercepting the limit term of sequence, we can get the suboptimal control law. Because the control law includes the state variable of the exosystem, the law can not be realized physically. It is solved via state reconstruction. The simulation results show that this approach possesses better Robustness and speediness.