Robust tracking controller for time delay systems

Preliminary results on designing a tracking controller for linear time-invariant systems with time delays are presented. The given system is augmented by additional integrators, and a stabilizing controller is designed for the augmented system. One of the advantages of the augmentation-based controller is that it is quite robust with respect to system parameter variations. For the sake of simplicity, only single-input, single-output systems with two time delays are considered, and the reference input, which the system output is to follow, is assumed to be a first-order polynomial function of the time