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This paper proposes a novel Uncertainty and Disturbance Estimator (UDE) based controller for Multi-Input Multi-Output (MIMO) systems. The controller handles input constraints, time-varying matched uncertainties in state and input matrices, unknown input–output delays, and partial state measurement. The UDE error dynamics are augmented with a time-varying variable to handle input constraints effectively. The proposed controller employs a Proportional Integral Observer (PIO) and a state predictor to accurately estimate the future state of the system with only partial state measurement. We develop sufficient conditions for system stability in tracking a reference model while only an estimation of the total delay is available. Numerical simulations and experiments on a multi-rotor platform validate the proposed controller’s effectiveness, demonstrating improved tracking performance and stability compared to existing methods. The proposed UDE-based controller, with a PIO and state predictor, is capable of handling various matched uncertainties and disturbances in MIMO systems with input constraints and partial state measurement. It offers improved tracking performance and stability compared to existing studies.
Mirshamsi et al. (Sat,) studied this question.