Predictive control for a class of linearizable nonlinear system with input delay

A recursive predictive controller is designed for a class of linearizable nonlinear systems with input delay based on geometric feedback-linearization and Smith prediction, which guarantees the stability of the closed-loop systems and effectively restrains the disadvantage caused by delay. The proposed method extends the Smith prediction of linear systems to that of nonlinear systems with input delay. The effectiveness of the presented method is demonstrated by simulation results