Predictor Feedback for Uncertainty-Free Systems

This chapter assesses predictor feedback for uncertainty-free systems. The previous chapters investigated predictor control problems of uncertain single-input or multi-input LTI systems with discrete input delays. This chapter extends the predictor method to compensate for another big family of delays — distributed input delays. The control designs for unknown discrete input delays in the previous chapters are not applicable to the case of unknown distributed input delays, as the plant and actuator states are not in the strict feedback form. The chapter then presents a new systematic method to stabilize uncertain LTI systems with distributed input delays. First of all, in order to lay a foundation for adaptive and robust control for uncertain systems in later chapters, it contributes to a predictor framework in rescaled unity-interval notation for uncertainty-free systems.