Optimal predictive control to damp oscillation for linear time - delay systems with external sinusoidal disturbances is considered in chapter 4 . a full - order state predictive observer for time - delay systems by using the control vector and the predictive output vector of the controlled plant is structured 利用构造预测模型得到的被控对象预测输出向量和系统的控制向量，设计一种全维状态预测观测器，并将该状态观测器用于时滞控制系统的最优前馈-反馈预测控制中。
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The prediction control problem for discrete time - delay system and continuous time - delay system with sinusoidal disturbance is concerned in this paper . chapter 3 is to remove the time - delay from a discrete system with control time - delay by predictive control . the state predictive observer and optimal predictive controller for the discrete delay system based on a state space model are presented 对于离散时滞系统，本文第三章通过构造预测模型所得的系统输出预测向量和系统的控制向量，为系统设计了全维状态预测观测器( spo ) ，并将该状态预测观测器应用于多步预测控制，根据最优控制理论，构建了全维模型预测控制器。
