Optimal control for linear systems with time delay in control input based on the duality principle

This paper presents the optimal regulator for a linear system with time delay in control input and a quadratic criterion. The optimal regulator equations are obtained using the duality principle, which is applied to the optimal filter for linear systems with time delay in observations. Performance of the obtained optimal regulator is verified in the illustrative example against the best linear regulator available for linear systems without delays. Simulation graphs and comparison tables demonstrating better performance of the obtained optimal regulator are included.