We present a delay-compensating control method that transforms exponentially stabilizing controllers for an undelayed system into a sample-based predictive controller with numerical integration. Our method handles both first-order and transport delays in actuators and trades-off numerical accuracy with computation delay to guaranteed stability under hardware limitations. Through hybrid stability analysis and numerical simulation, we demonstrate the efficacy of our method from both theoretical and simulation perspectives.
@article{arxiv.2009.14450,
title = {Numerical Predictive Control for Delay Compensation},
author = {Xichen Shi and Michael O'Connell and Soon-Jo Chung},
journal= {arXiv preprint arXiv:2009.14450},
year = {2020}
}