General Framework for Delay Compensation for Inputdelay Systems via Predictive Control Design

In this paper, we propose a predictive control scheme for systems with constant and known input delay. The central idea is that the control signal is constructed based on the prediction of future state rather than the current one. Prediction accuracy would largely affect the performance of the system. For linear systems, the controller is mathematically equivalent to Artstein model reduction or finite spectrum assignment (FSA). For nonlinear systems in companion form or lower triangular form, we have shown that the stability of the closed-loop systems could be guaranteed as long as the prediction error is bounded.