Model Predictive Control Based on State Predictive Observers for Discrete Systems with Time-Delay

A full-dimension state predictive observer for discrete systems with control time-delay is first structured. Based on the state predictive observer, a modal predictive controller in an optimal control fashion is then designed. The frequency domain analysis shows that the time-delay term of the closed-loop system can be transferred to the outside of the system’s closed-loop framework by using the state predictive observer. Therefore, the optimal control law may be designed according to optimal design methods of systems without time-delay. The time domain analysis shows this predictive controller is suboptimal with respect to quadratic performance indexes. Finally, a computing formula of suboptimal performance index is presented.