The modeling and control problem is investigated for cold rolling mill system. Firstly, we establish a hydraulic automatic gauge control (HAGC) model for a practical cold rolling mill system. The new model is with mismatched uncertainties and time delay. Then, an extended state observer (ESO) based predictive control strategy for HAGC system is developed. We propose a new ESO to estimate the unmeasured state for the mismatched nonlinear system. A modified Smith predictor is used to compensate the time delay. Based on Lyapunov stability theory, the stability of the closed-loop system is rigorously proved. Finally, simulation results for HAGC system are presented to demonstrate the effectiveness of the proposed control strategy.
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