Observation of sampled-data nonlinear systems with delayed measurements and controls

We derive discrete-time block and recursive observers for sampled-data nonlinear systems with measurements and control inputs that are delayed. The block observer is a discrete-time deadbeat observer, generalized to include systems under delayed control and sensing. The recursive observer is based on discrete-time gain scheduling, generalized to include systems under delayed control and sensing. Simulations are provided showing observer-based feedback control of a two-link robot arm.