The paper presents a controller design method that adopts the well-known Youla-Kučera parameterization for linear time-invariant time-delay systems. In particular, through the use of the parameterization in a frequency-domain framework, an additional periodic disturbance rejection capability is brought to a readily available linear state-feedback controller without affecting its stabilizing feature in the presence of delays. The effectiveness of the presented theory is experimentally validated by applying it to two physical systems suffering from input time-delays that have different stability and feedback properties. Through these mindfully chosen case studies, it is demonstrated that a controller endowed with periodic regulation capability can be obtained by following the proposed steps, whether the resulting closed-loop admits a retarded or neutral type of spectra.
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