Predictor Design and Delay Robustness Analysis for LTI Systems with State and Input Delays: A Fully Actuated System Approach

We investigate the stabilization of an LTI system with both state and input delays through a novel fully actuated system (FAS) approach. By transforming the original system into a fully actuated model, we propose an FAS-based pseudo predictor scheme that leverages the user-specified constant closed loop for the state prediction, combined with a gradient-driven optimization strategy for the parameter tuning. Furthermore, we conduct a frequency-domain delay robustness analysis to non-conservatively delineate stability regions, thereby ensuring the validity of the tuned predictor under delay perturbations. An example is provided to demonstrate our proposed theories.