Pole-placement controllers for linear systems with point delays

This paper presents a robust control algorithm for plants involvingboth internal (i.e. in the state) and external (i.e. in theoutput or input) known point delays. Several stabilizing controllerstructures are given and analysed for the case of perfectlymodelled plants with known parameters. The parametrized partsof two of the controller structures involve delays, while thoseof the two remaining controllers are delay-free. However, auxiliarycompensating signals which weight the plant input and outputintegrals are incorporated in all the controller structuresfor stabilization and model matching purposes.