Two-degree-of-freedom design method of state-predictive LQI servo systems

A new method has been proposed for designing an LQI servo system in which reference characteristics and disturbance characteristics can be adjusted separately. This paper extends the method to the case in which the plant has a cascaded pure delay. It is proved that the resulting compensator is the same as that for the plant with the delay removed, except the existence of a state prediction mechanism to cope with the delay, and that all the fundamental desirable features are inherited from the delay-free case