Sampled tracking for delayed systems using piecewise functioning controller

This article presents a control method to realize tracking of linear plants that deliver a delayed and sampled output. To do so, we make use of a class of piecewise functioning controller (PFC): bi-sampled controller. The use of this type of controller allows sampled tracking with a delay twice as much as that on the plant´s output. Thus, we propose mathematical approach of the dynamics of our controller. We then give an adaptation of these mathematical approaches, using only the delayed and sampled output, by means of a reduced-order Luenberger observer. Computer simulation results are given so as to enhance the theoretical aspect of our method