Can I somehow define an input delay?

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Sebastian Fuderer
评论： fouad koudsi 2020-10-26
Hi,
I am new to Model Predictive Control and want to implement a nonlinear mpc for a system with an input delay (id) in the state functions.
So instead of f(x(t),u(t)) i want to implement f(x(t),u(t-id)). Is that somehow possible? I meant it seems to be no problem for the linear mpc so it should be possible for the nonlinear mpc rigth?
thanks in advance.

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