{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,6]],"date-time":"2025-12-06T16:46:36Z","timestamp":1765039596717,"version":"build-2065373602"},"reference-count":28,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2021,11,9]],"date-time":"2021-11-09T00:00:00Z","timestamp":1636416000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100004826","name":"Beijing Municipal Natural Science Foundation","doi-asserted-by":"publisher","award":["4204098","4212035"],"award-info":[{"award-number":["4204098","4212035"]}],"id":[{"id":"10.13039\/501100004826","id-type":"DOI","asserted-by":"publisher"}]},{"name":"National Natural Science Foundation (NNSF) of China","award":["61903004","61803036"],"award-info":[{"award-number":["61903004","61803036"]}]},{"name":"Beijing 316 Information Science and Technology University Scientific Research Classified 317 Development Program","award":["2121YJPY214"],"award-info":[{"award-number":["2121YJPY214"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Symmetry"],"abstract":"<jats:p>This study proposes a Disturbance-improved Model-free Adaptive Prediction Control (DMFAPC) algorithm for a discrete-time nonlinear system with time delay and disturbance. The algorithm is shown to have good robustness. On the one hand, the Smith predictor is used to predict the output at a future time to eliminate the time delay in the system; on the other hand, an attenuation factor is introduced at the input to effectively eliminate the measurement disturbance. The proposed algorithm is a data-driven control algorithm that does not require the model information of the controlled system; it only requires the input and output data. The convergence of the DMFAPC is analyzed. Simulation results confirm the effectiveness of this algorithm.<\/jats:p>","DOI":"10.3390\/sym13112128","type":"journal-article","created":{"date-parts":[[2021,11,9]],"date-time":"2021-11-09T21:39:07Z","timestamp":1636493947000},"page":"2128","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Disturbance-Improved Model-Free Adaptive Prediction Control for Discrete-Time Nonlinear Systems with Time Delay"],"prefix":"10.3390","volume":"13","author":[{"given":"Honghai","family":"Ji","sequence":"first","affiliation":[{"name":"Beijing Key Laboratory for Urban Road Traffic Intelligent Control Technology, North China University of Technology, Beijing 100144, China"}]},{"given":"Yuzhou","family":"Wei","sequence":"additional","affiliation":[{"name":"Beijing Key Laboratory for Urban Road Traffic Intelligent Control Technology, North China University of Technology, Beijing 100144, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4324-1173","authenticated-orcid":false,"given":"Lingling","family":"Fan","sequence":"additional","affiliation":[{"name":"Department of Control Theory and Control Engineering, School of Automation, Beijing Information Science & Technology University, Beijing 100192, China"}]},{"given":"Shida","family":"Liu","sequence":"additional","affiliation":[{"name":"Beijing Key Laboratory for Urban Road Traffic Intelligent Control Technology, North China University of Technology, Beijing 100144, China"}]},{"given":"Yulin","family":"Wang","sequence":"additional","affiliation":[{"name":"Beijing Key Laboratory for Urban Road Traffic Intelligent Control Technology, North China University of Technology, Beijing 100144, China"}]},{"given":"Li","family":"Wang","sequence":"additional","affiliation":[{"name":"Beijing Key Laboratory for Urban Road Traffic Intelligent Control Technology, North China University of Technology, Beijing 100144, China"}]}],"member":"1968","published-online":{"date-parts":[[2021,11,9]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Fridman, E. 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