The Application of Predictor Feedback in Designing a Preview Controller for Discrete-Time Systems with Input Delay

Abstract EN

This paper presents a method for designing a type one servomechanism for a discrete-time linear system with input delay subject to a previewable desired output and a nonmeasurable constant disturbance.

The tracking problem of a delay system is transformed into a regulation problem of a delay-free system via constructing an augmented error system and a variable substitution.

A controller is obtained with delay compensation and preview compensation based on preview control theory and the predictor method.

When the state vector is not directly measurable, a full-dimensional observer is offered.

The effectiveness of the design method is demonstrated by numerical simulations.