ntvНаучно-технический вестник информационных технологий, механики и оптикиScientific and Technical Journal of Information Technologies, Mechanics and Optics2226-14942500-0373Университет ИТМО10.17586/2226-1494-2026-26-1-51-59ntv-563Research ArticleАВТОМАТИЧЕСКОЕ УПРАВЛЕНИЕ И РОБОТОТЕХНИКАAUTOMATIC CONTROL AND ROBOTICSУправление линейными объектами по выходу при наличии запаздывания и возмущения в канале управленияOutput tracking control of linear systems with input delays and disturbanceshttps://orcid.org/0009-0005-4733-7510ДангТ. Д.DangT. D.

Данг Тхе Донг — стажер-исследователь; аспирант

Санкт-Петербург, 199178

Санкт-Петербург, 197101

The Dong Dang — Research Intern; PhD Student

Saint Petersburg, 199178

Saint Petersburg, 197101

dangtd93@gmail.comhttps://orcid.org/0000-0003-2076-7463НгуенБ. Х.NguyenB. H.

Нгуен Ба Хю — младший научный сотрудник

Санкт-Петербург, 199178

Ba Huy Nguyen — Junior Researcher

Saint Petersburg, 199178

leningrat206@gmail.comhttps://orcid.org/0000-0003-4679-5884ФуртатИ. Б.FurtatI. B.

Фуртат Игорь Борисович — доктор технических наук, профессор, главный научный сотрудник, заведующий лабораторией; профессор

Санкт-Петербург, 199178

Санкт-Петербург, 197101

sc 36349158600

Igor B. Furtat — D.Sc., Professor, Chief Researcher, Head of Laboratory; Professor

Saint Petersburg, 199178

Saint Petersburg, 197101

sc 36349158600

cainenash@mail.ruhttps://orcid.org/0000-0003-4788-9137ГущинП. А.GushchinP. A.

Гущин Павел Александрович — доктор технических наук, ведущий научный сотрудник

Санкт-Петербург, 199178

Pavel A. Gushchin — D.Sc., Leading Researcher

Saint Petersburg, 199178

guschin.p@mail.ruИнститут проблем машиноведения Российской академии наук; Университет ИТМОРоссияInstitute for Problems in Mechanical Engineering of the Russian Academy of Science; ITMO UniversityRussian FederationИнститут проблем машиноведения Российской академии наукРоссияInstitute for Problems in Mechanical Engineering of the Russian Academy of ScienceRussian Federation2026250220262615159Copyright © Данг Т.Д., Нгуен Б.Х., Фуртат И.Б., Гущин П.А., 20262026Данг Т.Д., Нгуен Б.Х., Фуртат И.Б., Гущин П.А.Dang T.D., Nguyen B.H., Furtat I.B., Gushchin P.A.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://ntv.elpub.ru/jour/article/view/563

Введение. Представлен алгоритм управления по выходу для линейных систем с запаздыванием во входном сигнале при наличии внешних возмущений. Метод. Предлагаемый закон управления включает два основных компонента. Первый компонент представляет собой предиктор выходного сигнала, используемый для синтеза управляющего воздействия, обеспечивающего устойчивость замкнутой системы. Второй компонент основан на предсказании возмущений и предназначен для их компенсации. Основные результаты. Приведена процедура синтеза предикторов выходной переменной и возмущений, а также метод выбора вспомогательного контура для оценки возмущений. Полученные результаты строго обоснованы математически. Обсуждение. Ключевым преимуществом предложенного подхода является то, что предиктор выходного сигнала формируется непосредственно на основе измеряемого выхода системы, что позволяет осуществлять синтез закона управления без использования состояния объекта, в отличие от ряда традиционных методов. Эффективность разработанного алгоритма подтверждается результатами компьютерного моделирования в среде MATLAB/Simulink.

This paper presents an output-feedback control algorithm for linear systems with input delays in the presence of external disturbances. The proposed control law consists of two main components. The first component is an output predictor employed for synthesizing the control input that guarantees the stability of the closed-loop system. The second component is based on disturbance prediction and is designed to compensate for external disturbances. A synthesis procedure for the output and disturbance predictors is provided, along with a method for selecting an auxiliary loop for disturbance estimation. The obtained results are validated through strict mathematical analysis. A key advantage of the proposed approach is that the output predictor is constructed directly from the measured system output, which enables controller synthesis without relying on the system state, unlike many traditional methods. The effectiveness of the developed algorithm is demonstrated through computer simulations in MATLAB/Simulink.

линейный объект с запаздываниемуправление по выходупредиктор выходного сигналапредиктор возмущенияlinear time-delay systemsoutput-feedback controloutput predictordisturbance predictorПодраздел «Синтез алгоритма управления на базе предиктора» и раздел «Моделирование» выполнены в Университете ИТМО при финансовой поддержке Министерства науки и высшего образования Российской Федерации, проект № FSER-2025-0002. Подраздел «Анализ устойчивости замкнутой системы» выполнен в ИПМаш РАН при поддержке госзадания № FFNF-2024-0008 (№ 124041100006-1 в ЕГИСУ НИОКТР).The sections “Synthesis of a Predictor-Based Control Algorithm” and “Modeling” were supported at ITMO University by the Ministry of Science and Higher Education of the Russian Federation (project no. FSER-2025-0002). The section “Analysis of Closed-Loop System Stability” was completed at the IPME RAS with the support of Goszadanie no. 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The authors declare that there are no conflicts of interest present.