| Constraints, actuating delay, uncertainties and imperfect state information have many realizations in the actual applications. These phenomena affect the system analysis and controller design in that care should be taken in designing associated stabilizing controllers.; This thesis is dedicated to a setting where the constrained control of an input-delayed linear discrete-time system subject to bounded measurement noise and disturbance input is in question. Using a propagator-based delay compensation strategy and a set theoretic model predictive control scheme, a robust control synthesis for such a setting is introduced. More complications arise from the imperfect state information.; In this manuscript, a scheme to satisfy the constraints as well as to compensate for this delay is presented. It is also guaranteed that the closed-loop system's trajectory will remain at the vicinity of the origin at the steady state. A number of illustrative examples verify the theoretic results. |
