Functional observer and state feedback for input time-delay systems
A state observer for the linear input-delay system \[ \dot x(t)= Ax(t)+ Bu(t-\tau),\quad y(t)= Cx(t) \] is constructed in the form \[ u(s)=\widehat r(s)+ v(s),\quad \widehat r(s)= F(s)u(s)+ H(s)y(s) \] for some \(H_\infty\) matrices \(F\) and \(H\). These matrices are determined from the equation \[ F(s)+ H(s)G_0(s)e^{-\tau s}= L_c(s) \] when \(L_c(s)\) is the closed-loop transfer function of the original system with a standard stabilizing feedback control (assuming all states are available). The latter equation can be written \[ F(s)M(s)+ H(s)N(s)= L_c(s)M(s), \] where \(M(s)\) and \(N(s)\) are the right coprime \(H_\infty\) factors of \(G(s)\), where \[ G(s)= C(sI- A)^{-1}BE^{\tau s}= G_0(s)e^{\tau s}. \]
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