Robust output regulation of linear time-delay systems: A state predictor approach

This paper considers the robust output regulation problem for linear systems in the presence of state, input, and output delays. First, a state feedback control law is constructed from a state predictor, recently developed for systems with state and input delays. Necessary and sufficient conditions for the existence of a solution to the regulator equations are presented. Next, an error feedback control law for the output regulation problem is constructed by means of an error-based state predictor. Finally, the proposed error feedback solution is extended to solve the output regulation problem in the presence of model uncertainty. Numerical examples demonstrate the effectiveness of the proposed predictor-based solutions. Copyright (c) 2015 John Wiley & Sons, Ltd.