Linear Model Predictive Control for Time Delay Systems

Jukka Pekka Humaloja, Stevan Dubljevic

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review


This paper studies linear model predictive control of real matrix-valued single delay systems. The delay system is written as an abstract inflnite-dimensional control system which is then mapped into an infinite-dimensional discrete-time control system using Cayley-Tustin discretization. A constrained model predictive control (MPC) problem is formulated for the discrete-time system where a terminal penalty function is utilized to cast the infinite-horizon optimization problem into a finite-horizon one. The proposed MPC design is demonstrated on an example of constrained stabilization of a 2 × 2 system. We will demonstrate that the proposed discrete-time MPC law not only stabilizes the discrete-time system but can be utilized in stabilizing the original continuoustime system as well, which is due to several favorable properties of the Cayley-Tustin discretization.

Original languageEnglish
Title of host publication2020 American Control Conference, ACC 2020
Number of pages6
ISBN (Electronic)9781538682661
Publication statusPublished - 1 Jul 2020
Publication typeA4 Article in a conference publication
EventAmerican Control Conference - Denver, United States
Duration: 1 Jul 20203 Jul 2020

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


ConferenceAmerican Control Conference
CountryUnited States

Publication forum classification

  • Publication forum level 1

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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