A design method of preview controller for linear continuous-time systems with multiple input delays

This paper studies a preview control problem for a class of linear continuous-time systems with multiple input delays. Firstly, the preview problem is transformed into a regulation one via constructing an augmented error system. Secondly, a variable substitution is given to eliminate the input delays. Then, based on the solution of an algebraic Riccati equation, a controller with delay compensation and preview compensation is obtained. Furthermore, the existence conditions of the preview controller and the asymptotic tracking properties of the closed-loop system are discussed. Finally, a numerical simulation is given to illustrate the effectiveness of the design method.