A modified predictive scheme for disturbances attenuation of LTI systems with input delay

In this paper, a modified predictor based on the predictive scheme proposed by V. Léchappé is developed to construct a predictor-based controller. It has been shown that this controller can attenuate the unknown additive disturbances for linear time invariant (LTI) systems with a constant and known input delay. Moreover, a comparison with the work from V. Léchappé is presented, which proves that a better attenuation is achieved by utilizing the modified predictor-based controller for time-varying disturbances. And for constant disturbances, the controller based on this modified predictor can also reject the disturbances perfectly. Finally, a numerical example is given to verify these results about constant and time-varying disturbances.