Robust predictive control for multi input/output control systems with non-equal time delays

A robust predictive control strategy is proposed for discrete-time multi input/output systems with non-equal delays on signal buses. It is based on a separation property between control and prediction. The input delays are taken into account in the control law synthesis and the output delays are handled using an original steady-state Kalman predictor of order equal to the length of the system state. Robustness, especially against uncertain delays, is improved using a state extension for the predictive gain synthesis.