Pipelined controller with multi-step predictor

In previous work, a pipelined controller had been proposed, which enable better control methods to be used without incurring in prohibitive costs. This previous work did not take into account the pipeline delay when deriving the control law. This contribution proposes the use of a multi-step predictor to improve the pipelined controller performance and stability assuming that the pipeline delay is known. Simulations are conducted to compare the pipelined controller with and without multi-step predictor