Analytical design of consecutive compensator for control systems with delay based on modification of typical polynomial models

The purpose of this paper is to develop an algorithm for analytical design of consecutive compensator for the control system with delay based on typical polynomial dynamical models modification. A formula relating to the characteristic frequency and the cutoff frequency of a transfer function of open loop of the desired polynomial dynamic model was derived. Using this formula a modification of polynomial models was made taking into account a value of delay element of a plant.
Control of the plant with delay using the consecutive compensator has several advantages: it requires a minimum amount of measuring data and eliminates the need to introduce observer; there is no problem of non-zero initial conditions, which may arise during short-term disruption of a normal functioning of the system; a simple construction of consecutive compensator procedures for SISO and MIMO systems.