AbstractThis paper focuses on delay compensation as an extension of the loop transfer recovery (LTR) procedure from one‐step prediction to the general case ofp‐step prediction (p≥ 1). The steady state minimum variance filter gain is shown to be theH2‐minimal solution of the relative error between the target sensitivity matrix and the actual sensitivity matrix forp‐step prediction (p≥ 1). This result is useful for synthesis of robust delay compensators in multiple‐input/multiple‐output (MIMO) discre
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