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Mathematical Problems in Engineering
Volume 2013 (2013), Article ID 698935, 12 pages
Research Article

Composite Disturbance Observer-Based Control and Output Tracking Control for Discrete-Time Switched Systems with Time-Varying Delay

1School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
2School of Computer Science, Qufu Normal University, Rizhao, Shandong 276826, China

Received 28 January 2013; Accepted 3 April 2013

Academic Editor: Yang Yi

Copyright © 2013 Haibin Sun and Linlin Hou. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper considers the problem of output tracking control for discrete-time switched systems with time-varying delay and external disturbances. The control scheme combining disturbance observer-based control (DOBC) and control is proposed. The disturbances are assumed to include two parts. One part is generated by an exogenous system, which imposes on system with control inputs in the same channel. The other part is supposed to have the bounded norm. A new disturbance observer is developed to estimate and reject the first case disturbances for switched system with time-varying delay, and the second case disturbances are attenuated by control scheme. The stability analysis of the closed-loop system is developed by switched Lyapunov function, and a solvable delay-dependent sufficient condition is presented in terms of linear matrix inequalities (LMIs) and cone complement linearization (CCL) methods. A numerical example is given to demonstrate the effectiveness of the proposed composite control scheme.