Delayless dynamic controllers for Disturbance Rejection of general neutral time delay systems

The problem of Disturbance Rejection (DR) for MIMO general neutral multi-delay systems, is studied for the case of left invertible systems with measurable disturbances. The controller used is of the delayless dynamic type feeding back the measurable disturbances and the plant measurement outputs. The necessary and sufficient conditions for the problem to have a solution are established and the general analytical expression of the delayless dynamic controller matrices is derived. The present results cover the solution of the Robust DR problem with uncertain delays.