Output tracking in first-order time-delay systems: A dynamic control approach

Behrouz Ebrahimi, Karolos Grigoriadis, Matthew Franchek, Reza Tafreshi

Research output: Contribution to journalArticle

1 Citation (Scopus)


Output tracking of systems, which are represented through a surrogate first-order model with a delay in the control input, is examined in this paper. A dynamic control input is proposed to maintain the system output to track a desired reference profile, while providing closed-loop stability. The system closed-loop response is demonstrated for fueling control in lean-burn gasoline spark ignition engines addressing the varying transport and combustion delays. The developed methodology, which is validated on a Ford F-150 SI lean-burn engine model with large time-varying delay in the control loop, exhibits improved performance in terms of disturbance attenuation, measurement noise accommodation and robustness against delay estimation anomalies. The proposed controller is compared with a PI controller equipped with a Smith predictor and the results are discussed for various operating conditions.

Original languageEnglish
Pages (from-to)269-274
Number of pages6
Issue number12
Publication statusPublished - 1 Jul 2015



  • Dynamic control
  • Lean-burn engine
  • Output tracking
  • Time-delay system

ASJC Scopus subject areas

  • Control and Systems Engineering

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