Abstract
The linear-quadratic tracking problem is solved for a discrete-time system with a control delay of <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">T</tex> time periods. Two closed-loop solutions are seen to result, one of which applies to the first <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">T</tex> time periods, and the second of which holds for the remaining time.
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