Prediction schemes for disturbance attenuation of discrete-time linear systems with input-delay

In this article, two predictors are developed to estimate the future state of a discrete-time linear system with input delay and external disturbance. The ultimate bounds of the state of the closed-loop system are given when the predictor-based state feedback control laws are used via the proposed predictors. Based on these expressions, the disturbance attenuation performance is analyzed for the proposed prediction schemes. For constant disturbance, the error between the estimated state and the further state can be eliminated by the controller based on these two predictors. A numerical example is employed to show the effectiveness of the proposed prediction schemes.