Recursive predictor design for linear systems with time delay

This paper presents a recursive control design method for multi-input, block-feedforward linear systems with delays in the input and in the interconnections between the state blocks. The controller is of predictor type, which means that it contains finite integrals over past state values. This design method is a generalization of the well known model reduction approach for systems with input delay. A recursive procedure replaces delay terms with non-delay ones step-by-step from the top of the cascade structure down. Controller gains are computed for the proxy system without delays, while the construction guarantees the same closed loop poles for the delay system and the proxy one.