Robust state-predictive control with separation property: A reduced-state design for control systems with non-equal time delays

A robust state-predictive control strategy is proposed for discrete-time mu lti-input/output systems with non-equal delays on signal buses. It is based on a separation property between control and prediction. The input delays are taken into account in the control law synthesis and the output delays a re handled using an original steady-state Kalman predictor of order equal t o the length of the state of the system without delays. Robustness, especia lly against uncertain delays, is improved using a state extension in the pr edictive gain synthesis. The classic optimal separation theorem (in the cas e of an one step predictor) is extended to the general case of a d + 1 step prediction for a delayed discrete-time system. (C) 2000 Elsevier Science L td. All rights reserved.