Suboptimal design of linear control systems with time delay

A suboptimal controller is presented for linear systems with time delay. The method is based on a MacLaurin´s-series expansion of the control in a coupling parameter. The parameter is introduced in the plant in such a manner that, when it approaches zero, the system is no longer time-delayed. Further, all series coefficients are obtained on the basis of nondelay system computations. A numerical example is included that compares closely with known results.