Discretisation of two degree-of-freedom controller and system with state, input and output delays

An interpolation method for discretisation of a two degree-of-freedom analo gue controller and system with state, input and output delays is presented. A Newton centre interpolation formula is used for discretisation of a cont inuous-time system with state, input and output delays. Also, a Newton back ward extrapolation formula and Chebyshev quadrature formula are employed to carry out output-feedback digital redesign of a two degree-of-freedom cont roller for the delayed analogue system. The developed digital redesign meth od is then extended to perform discretisation of a Smith predictor for an i nput-delayed analogue system. The newly developed output-feedback state-mat ching digital redesign method provides an alternative methodology for indir ect digital design of a continuous-time system with state, input and output delays.