Prediction-based control for systems with state and several input delays

In this contribution an extension of the prediction-based design scheme proposed in Tsubakino et al. (2015) for compensation of input delays to the case of systems with input and state delays is presented. To derive safely implementable control laws we propose to apply additional input filters and obtain a closed-loop system in the form of a set of retarded type differential equations. An example illustrating the design scheme is given.