Observer-based optimal output tracking control for linear systems with delayed measurement

This paper considers the optimal output tracking control (OOTC) problem for linear systems with delayed measurement. A functional transformation is presented, which transforms the system with delayed control and delayed measurement into a delay-free one in form. The feedforward and feedback OOTC law is derived from Riccati equations and Sylvester equation. A reference input observer is designed to make the feedforward term of the OOTC law physically realizable. Simulation results show that the OOTC law is effective and easy to be implemented.