Fully actuated system approaches for continuous-time delay systems: part 2. Systems with input delays

In this paper, the fully actuated system (FAS) approaches for continuous-time systems with time-varying state delays and a constant input delay are presented. Two types of continuous-time high-order FASs are proposed: single-order FASs with both state and input delays and multi-order FASs with both state and input delays. Controllers for both types of time-delay FASs are designed based on the full-actuation features of the systems. Unlike the case of FASs with state delays only, a prediction scheme is required and constructed for both types of FASs with input delays. Similar to the case of FASs with state delays only, constant linear closed-loop systems with arbitrarily assignable eigenstructures are also developed. Illustrative examples are provided to demonstrate the effect of the proposed theories.