Towards dynamic controller design for Disturbance Rejection of MIMO neutral time delay systems

The problem of Disturbance Rejection (DR) for MIMO general neutral multi-delay systems, is studied for the case of left invertible systems with measurable disturbances. The controller used is of the dynamic type involving delays and feeding back the measurable disturbances and the plant measurement outputs. The controller is assumed to be realizable. For this system case and controller type the necessary and sufficient conditions for the problem to have a solution are established and the general analytical expression of the controller matrices solving the problem is derived.