Output tracking control of linear systems with input delays and disturbances

This paper presents an output-feedback control algorithm for linear systems with input delays in the presence of external disturbances. The proposed control law consists of two main components. The first component is an output predictor employed for synthesizing the control input that guarantees the stability of the closed-loop system. The second component is based on disturbance prediction and is designed to compensate for external disturbances. A synthesis procedure for the output and disturbance predictors is provided, along with a method for selecting an auxiliary loop for disturbance estimation. The obtained results are validated through strict mathematical analysis. A key advantage of the proposed approach is that the output predictor is constructed directly from the measured system output, which enables controller synthesis without relying on the system state, unlike many traditional methods. The effectiveness of the developed algorithm is demonstrated through computer simulations in MATLAB/Simulink.