An internally stable realization of a finite-dimensional approximation of a delay element

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The main topic is the approximation of a pure delay by means of a rational function in the complex frequency plane having an equal number of poles and zeros. Very close poles and zeros are undesirable, because `pole-zero cancellation' is a source of erratic performance. The procedure is based on the `finite' Laplace transform. In the design of certain feedback control systems a simulated delay is technically preferable to a genuine one, despite the absence of an exact mathematical equivalence. No contribution is made to the theory of approximating a given function by a rational one with an accuracy specified independently of linear control theory.











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