$\ell _1$ Optimal Robust Steady-State Tracking for Unknown First-Order Plant

This note considers the problem of the optimal ldquosteady-staterdquo tracking for an unknown first-order plant with an unknown control delay, under the assumption of known upper bounds on model parameters and the control delay. The plant is subjected to perturbations in output and control as well as an exogenous disturbance with unknown upper bounds. The solution of the problem is based on treating the control criterion, which is the worst-case steady-state value of an error signal, as the identification criterion.