Tracking Controller for Linear Systems With Time Delays in Both State and Control Variables

Abstract

Linear time invariant control systems with time delays in both state and control variables are studied. The problem is to design a controller so that the system response will follow a given reference input with zero steady-state error. The reference input is assumed to be a polynomial function of time. The controller is based on feeding forward the reference input and its delayed values. A method is derived for determining the feed-forward gain matrices. Necessary and sufficient condition for the existence of proposed tracking controller is also obtained. An example is given to illustrate the proposed method.