Abstract
Various actual systems include time delays due to measurement and/or computational delays, and transmission and transport lags. In this paper, the authors propose a state predictor for a certain class of multivariable systems including multiple output delays. The predictor consists of full-order observers, each estimates a past state from a delayed output, and finite interval integrators, which compensate the effect of the delays using state transition equations. The error of the state prediction converges to zero at the arbitrary rate adjusted by choosing a finite number of poles of the full-order observers. The output matrix used for observer design is not affected by the delays, whereas that of a conventional observer greatly depends on the length of the delays. Numerical examples of an integral process and an unstable process demonstrate that the errors of numerical computation in the proposed predictor are smaller than those in the conventional observer.
