A parametrization of discrete-time integral controllers with computation delay

A convenient parametrization of discrete-time integral controllers with computation delay is considered. For this purpose, the standard parametrization based on a discrete-time linear quadratic Gaussian (LQG) controller is inconvenient because one must impose some constraints on the free parameter. Instead, the authors propose to use the observer-based integral controller proposed by H.J. Guo et al. (1990) as a basic controller. Since the constraints on the free parameter are removed in the proposed parametrization one can conveniently use the free parameter to enhance the basic integral controller. As an application, the authors discuss full loop transfer recovery using the free parameter