A control algorithm for an object with delayed input signal based on subpredictors of the controlled variable and disturbance

An algorithm for control of linear plants with a time-delay in the input signal under external disturbances is proposed. First, the predictor of the state vector and the disturbance predictor are used to design the algorithm. Further, on the basis of the proposed predictors the appropriate subpredictors are constructed. The subpredictors allow to control of plants with a long time-delay and shorten the prediction time of the disturbance. Sufficient conditions for the stability of the closed-loop system in the form of feasibility of linear matrix inequalities (LMI) are obtained. The simulations illustrate the effectiveness of the proposed scheme. The comparisons of the proposed algorithm with existing ones are considered.