On the structure at infinity of linear delay systems with application to the disturbance decoupling problem

summary:The disturbance decoupling problem is studied for linear delay systems. The structural approach is used to design a decoupling precompensator. The realization of the given precompensator by static state feedback is studied. Using various structural and geometric tools, a detailed description of the feedback is given, in particular, derivative of the delayed disturbance can be needed in the realization of the precompensator