I/O Decoupling with simultaneous Disturbance Rejection of general neutral time delay systems via a measurement output feedback dynamic controller

The problem of Input - Output (I/O) Decoupling with simultaneous Disturbance Rejection (DDR) is studied for the class general linear neutral multi-delay differential systems with measurable disturbances. The problem is solved using a dynamic multi-delay controller with proper and realizable feedback of the measurement outputs, a realizable precompensator and a realizable dynamic controller matrix mapping the measurable disturbances to the system inputs. For this system case and controller type the necessary and sufficient conditions for the problem to have a solution are established and the general analytical expression of the controller matrices solving the problem is derived.