Exact predictor feedbacks for multi-input LTI systems with distinct input delays

This paper proposes a predictor-based state feedback controller for multi-input linear time-invariant (LTI) systems with different time delays in each individual input channel. The controller is derived based on the backsteppingmethod. Since the conventional backstepping transformation is not applicable to the systems due to the differences among delays, a modified transformation is introduced. This transformation enables us to design an exponentially stabilizing controller underwhich the plant behaves as if the delays were absent after a finite time interval. As a dual of the controller design, we also present the observer design for multi-output LTI systems with distinct sensor delays. A numerical simulation confirms the performance of the proposed controller. © 2016 Elsevier Ltd. All rights reserved.