Prediction-based control with delay estimation of LTI systems with input-output delays

The aim of this article is to propose a prediction-based controller combined with a new time-delay estimation method for LTI systems with unknown input and output delays. The global asymptotic stability of the time-delay system is ensured. The proposed control scheme includes a delay estimator which estimates the unknown round-trip delay (the sum of input and output delays), a Luenberger observer and a prediction-based controller. Among the main results of this article, the delay estimator is firstly introduced; secondly, a Lyapunov-Razumikhin analysis is given to prove the stability of the closed-loop system; finally, several examples are given to illustrate the performances of the proposed method.