Unbiased minimum-variance estimation and dynamic event-driven disturbance rejection control for discrete time-varying systems

This paper studies a dynamic event-driven disturbance rejection control problem for a class of linear discrete time-varying systems with unknown external disturbances, random process and measurement noises. To obtain the accurate estimates of both the system states and external disturbances, simultaneously, an unbiased minimum-variance time-varying extended state observer is designed, and the stability of the estimation error system is analyzed. Then, a dynamic event-driven disturbance rejection controller is designed by minimizing the upper bound of the cost function of the closed-loop system over a finite horizon. It can be shown that, by applying the proposed control approach, not only the transmission frequency of the control signal is reduced, but also the external disturbances are compensated actively. Finally, numerical simulations are given to demonstrate the effectiveness of the proposed control approaches.