Achievable performance of sampled-data controllers with input and output delays

Sampled-data systems often entail transport delays due to communication lags. In this paper we synthesize sampled-data controllers that account a priori for such delays. Our approach which accounts for measurement noise and intersample behavior, allows us to investigate the effect of delays on the achievable performance of sampled-data systems. Several examples are given to illustrate the effect of large delays on system performance. Depending upon measurement disturbance levels, numerical examples show that large delays may be incurred without a significant loss in performance