Observer design for linear discrete systems with delayed measurements and disturbances

This paper researches the approach of observer design for linear discrete systems with delayed measurements and disturbances. A functional-based delay-free transform is given, which transforms the system with delayed measurements and disturbances into a delay-free one formally. Furthermore, a novel reduced-order state observer is presented for the original systems with the delayed measurements and disturbances. Simulation results demonstrate the effectiveness of the delay-free transform and observer design approach.