Modified state predictive control of continuous-time systems with input delay

The state predictive control is one of the most effective methods to compensate the input delay of linear systems. In the continuous/discrete-time scenario, the corresponding closed-loop poles except for the eigenvalues of A + BF are arranged at -∞/the origin automatically. In the discrete-time setting, a modified state predictive control method has been proposed in which all closed-loop poles including the rest can be assigned arbitrarily. Since the deadbeat nature of the original control is altered, it might be effective in robustness. Motivated by this observation, in this paper, the continuous-time counterpart is derived. The robustness against the delay length mismatch is examined via numerical examples.