The optimal projection equations for fixed-order, sampled-data dynamic compensation with computation delay

For an LQG-type sampled-data regulator problem which accounts for computational delay and utilizes an averaging A/D device, the equivalent discrete-time problem is shown to be of increased order due to the inclusion of delayed measurement states. The optimal projection equations for reduced-order, discrete-time compensation are applied to the augmented problem to characterize low-order controllers. The design results are illustrated on a 10th-order flexible beam example.