Partial LTR design of optimal output disturbance cancellation controllers with sensor delays

The authors have recently shown that, despite the lack of the stabilizability of the extended plant, a procedure similar to the standard LTR procedure can be used for the design of optimal output disturbance cancellation controllers for minimum phase plants. Extension of this result to minimum phase plants with sensor delays is considered in this paper. The sensor delay is approximated by a lumped all-pass function. A partial loop LTR design procedure is proposed with a target related to estimation error dynamics for the plant state and the disturbance. A numerical example is presented to illustrate the effectiveness of the proposed design.