Predictor-Based Control of LTI Remote Systems With Estimated Time-Varying Delays

This letter provides a practical control solution to remote control systems with unknown time-varying delays. An external signal which can be considered as a specific communication loop is added to estimate the unknown round-trip delay in finite time. Then the system is stabilized with the practical delay estimation technique and a predictor-based controller. The main results of this letter also provide an alternative way to design predictor-based controller for systems with known input and output time-varying delays. The theoretical results of this letter are illustrated by simulation results.