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Delay-Adaptive Linear Control$
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Yang Zhu and Miroslav Krstic

Print publication date: 2020

Print ISBN-13: 9780691202549

Published to Princeton Scholarship Online: January 2021

DOI: 10.23943/princeton/9780691202549.001.0001

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Exact Predictor Feedback for Multi-Input Systems

Exact Predictor Feedback for Multi-Input Systems

(p.121) Chapter Six Exact Predictor Feedback for Multi-Input Systems
Delay-Adaptive Linear Control

Yang Zhu

Miroslav Krstic

Princeton University Press

This chapter presents the exact predictor feedback for deterministic multi-input LTI systems with distinct discrete input delays. This offers a PDE-based framework for compensation for multi-input distinct delays and lays a foundation for adaptive control in later chapters. In the PDE-based framework to deal with the discrete multi-input delays, the problem is formulated as a cascade between several first-order transport PDEs (accounting for the distinct delayed inputs) and an ODE (accounting for the original plant). This problem is solved using backstepping to design a prediction-based controller. The key idea of this prediction technique is to replace future inputs involved in the state predictions computation by their closed-loop expressions.

Keywords:   exact predictor feedback, multi-input LTI systems, input delays, multi-input distinct delays, adaptive control, backstepping, prediction-based controller, state predictions computation, closed-loop expressions

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