Analysis and mitigation of one-step delay in real-time implementation of state-feedback controllers

Because of computation time, one-step delay is inherent in the real-time implementation of state-feedback controllers. Ignoring this delay can degrade performance and lead to instability. This paper analyses the effect of this delay and presents design techniques for mitigating its effect. Two new approaches, namely, delayed state-feedback (DSF) and predictor state feedback (PSF), are introduced to address these challenges and enable the design of real-time-implementable state-feedback controllers. DSF leverages a static-output-feedback framework, while PSF utilises a state predictor to compensate for the delay. It is shown that both DSF and PSF can achieve stability under specific conditions. The performance and robustness of these techniques are also compared.