Trajectory tracking for system with pointwise and distributed delays with input constraint

This paper deals with the control of linear systems with delays and constrained input. The control law aims at forcing the output of the system to follow a reference trajectory compatible with the input constraint while preserving the closed loop stability. Thus, a control law including the constraint is designed using the pole placement technique with pseudo-polynomials to take the delays into account. Using tools from the input-output approach, conditions are given on the closed loop poles such that the control law solves the reference tracking problem.