Closed-Loop State Predictor: Robustness and Safe Implementation

The paper addresses the problem of robust and safe implementation of a state predictor used for stabilization of the linear time-invariant system with known arbitrarily large yet bounded input delay. To this end, we design a new simple observer with resetting of initial conditions generating an estimate of the state prediction error. This estimate is used as the feedback for closed-loop correction of the state prediction. The robustness of the proposed closed-loop predictor with respect to parametric perturbations as well as to its numerical realization is proved and illustrated by simulation.