Hankel approximation of commensurate input delay systems

This paper studies the problem of approximating commensurate input delay systems by finite dimensional systems based on the Hankel singular values. It is shown that the Hankel singular values are solutions to a transcendental equation and the Hankel singular vectors are obtained from the kernel of the matrix. The computation is carried out in state-space framework. Once singular values and vectors are calculated, finite dimensional approximated systems are constructed using standard linear system computational tools. An example is included