Analog loop shifting in H2 optimization of input-delay sampled-data systems

Available solutions to sampled-data H² optimal control problems for systems with input delays begin with a conversion to a discrete-time problem with input delays, followed by a matching optimization method geared to handle delays. We propose to reverse that order and address the delay first, by an analog loop transformation. Hence, discretization and optimization involve no delays and are amenable to any standard method. The proposed, streamlined, approach fits also previously unsolved problems where sampling and / or hold functions are design parameters.