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This paper presents a method for designing a type one servomechanism for a discrete-time linear system with input delay subject to a previewable desired output and a nonmeasurable constant disturbance. The tracking problem of a delay system is transformed into a regulation problem of a delay-free system via constructing an augmented error system and a variable substitution. A controller is obtained with delay compensation and preview compensation based on preview control theory and the predictor method. When the state vector is not directly measurable, a full-dimensional observer is offered. The effectiveness of the design method is demonstrated by numerical simulations.

The Application of Predictor Feedback in Designing a Preview Controller for Discrete-Time Systems with Input Delay