LQR Predictive Control of SISO Time-Delay Processes Having Output Disturbances

This paper proposes an approach to control continuous-time single-input single-output (SISO) time-delay processes having output disturbances employing a linear quadratic regulator (LQR) predictive controller in the discrete-time domain. To demonstrate the validity of such an approach, this work performs the control of SISO stable with large time delay, unstable, non-minimum phase, oscillatory, and integrating benchmark time–delay processes, in other words, processes that have been used by the researches to demonstrate various published control approaches. In all cases, a pulse train disturbance signal on the output is rejected, while the controlled outputs follow pulse-shape reference signals.