Predictor Observers

Abstract

In this chapter we develop a result that is an exact dual of the predictor feedback design in Chapter 2. We develop an observer that compensates for a sensor delay, namely, a delay at the plant’s output. Our design is based on observer designs for PDEs with boundary sensors [203]. The main subject of this chapter is an observer design for ODEs with sensor delay. This result is the focus of Sections 3.1, 3.2, and 3.3. In Sections 3.4, 3.5, and 3.6 we present a side discussion that connects an observer-based predictor feedback design for systems with input delay with the classical Smith controller [201]. In this discussion we focus on structural similarities as well as the specific differences between the two designs, and present a stability analysis showing that the separation principle holds for the observer-based predictor feedback (Section 3.6).