Receding Horizon <svg style="vertical-align:-4.47127pt;width:37.537498px;" id="M1" height="21.387501" version="1.1" viewBox="0 0 37.537498 21.387501" width="37.537498" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg"><g transform="matrix(.022,-0,0,-.022,.625,15.187)"><path id="x1D43B" d="M865 650q-1 -4 -4 -14t-4 -14q-62 -5 -77 -19.5t-29 -82.5l-74 -394q-12 -61 -0.5 -77t75.5 -21l-6 -28h-273l8 28q64 5 82 21t29 76l36 198h-380l-37 -197q-11 -64 0.5 -78.5t79.5 -19.5l-6 -28h-268l6 28q60 6 75.5 21.5t26.5 76.5l75 394q13 66 2 81.5t-77 20.5l8 28
h263l-6 -28q-58 -5 -75.5 -21t-30.5 -81l-26 -153h377l29 153q12 67 2 81t-74 21l5 28h268z" /></g><g transform="matrix(.016,-0,0,-.016,20.287,20.575)"><path id="x221E" d="M983 225q0 -112 -67 -174.5t-150 -62.5q-91 0 -154.5 43.5t-113.5 129.5q-49 -85 -104 -129t-138 -44q-98 0 -158.5 66t-60.5 154q0 59 21 106.5t54.5 75.5t70.5 43t73 15q90 0 152.5 -43.5t112.5 -128.5q48 84 104.5 128t140.5 44q93 0 155 -65t62 -158zM478 196
q-27 49 -47 80t-50 67t-64 54t-73 18q-48 0 -81.5 -47t-33.5 -128q0 -96 37.5 -157.5t99.5 -61.5q68 0 117.5 47t94.5 128zM889 204q0 91 -35.5 151t-99.5 60q-68 0 -119 -47t-95 -127q27 -49 47 -80.5t50 -67.5t65 -54t74 -18q113 0 113 183z" /></g></svg> Control for Input-Delayed Systems

<table>The shape of disturbance, <svg height="16.200001" id="M289" style="vertical-align:-2.3205pt" version="1.1" viewbox="0 0 30.9125 16.200001" width="30.9125" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.625,12.687)"><path d="M689 332q0 -81 -40 -161.5t-103.5 -131.5t-127.5 -51q-32 0 -58.5 16t-40.5 46q-70 -62 -139 -62q-45 0 -77.5 30t-32.5 86q0 8 7 52q11 77 45 187q6 19 6 34q0 6 -7 6q-24 0 -78 -64l-20 23q32 48 73 77t78 29q32 0 32 -43q0 -30 -12 -73q-27 -95 -38 -152
q-8 -44 -8 -58q0 -77 68 -77q31 0 60 33.5t39 77.5l62 260l75 16l5 -6l-63 -246q-8 -29 -8 -58q0 -77 68 -77q66 0 116 75.5t50 194.5q0 43 -12 57q-11 12 -11 24q0 19 15 35.5t34 16.5q18 0 30.5 -34.5t12.5 -81.5z" id="x1D464"></path></g><g transform="matrix(.017,-0,0,-.017,12.728,12.687)"><path d="M300 -147l-18 -23q-106 71 -159 185.5t-53 254.5v1q0 139 53 252.5t159 186.5l18 -24q-74 -62 -115.5 -173.5t-41.5 -242.5q0 -130 41.5 -242.5t115.5 -174.5z" id="x28"></path></g><g transform="matrix(.017,-0,0,-.017,18.61,12.687)"><path d="M324 430l-26 -36l-112 -4l-55 -265q-13 -66 7 -66q13 0 44.5 20t50.5 40l17 -24q-38 -40 -85.5 -73.5t-87.5 -33.5q-50 0 -21 138l55 262h-80l-2 8l25 34h66l25 99l78 63l10 -9l-37 -153h128z" id="x1D461"></path></g><g transform="matrix(.017,-0,0,-.017,24.406,12.687)"><path d="M275 270q0 -296 -211 -440l-19 23q75 62 116.5 174t41.5 243t-42 243t-116 173l19 24q211 -144 211 -440z" id="x29"></path></g>
</svg>.</table>

Mathematical Problems in Engineering

fig2

Figure 2

Figure 2: Receding Horizon <svg style="vertical-align:-4.47127pt;width:37.537498px;" id="M1" height="21.387501" version="1.1" viewBox="0 0 37.537498 21.387501" width="37.537498" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg"><g transform="matrix(.022,-0,0,-.022,.625,15.187)"><path id="x1D43B" d="M865 650q-1 -4 -4 -14t-4 -14q-62 -5 -77 -19.5t-29 -82.5l-74 -394q-12 -61 -0.5 -77t75.5 -21l-6 -28h-273l8 28q64 5 82 21t29 76l36 198h-380l-37 -197q-11 -64 0.5 -78.5t79.5 -19.5l-6 -28h-268l6 28q60 6 75.5 21.5t26.5 76.5l75 394q13 66 2 81.5t-77 20.5l8 28
h263l-6 -28q-58 -5 -75.5 -21t-30.5 -81l-26 -153h377l29 153q12 67 2 81t-74 21l5 28h268z" /></g><g transform="matrix(.016,-0,0,-.016,20.287,20.575)"><path id="x221E" d="M983 225q0 -112 -67 -174.5t-150 -62.5q-91 0 -154.5 43.5t-113.5 129.5q-49 -85 -104 -129t-138 -44q-98 0 -158.5 66t-60.5 154q0 59 21 106.5t54.5 75.5t70.5 43t73 15q90 0 152.5 -43.5t112.5 -128.5q48 84 104.5 128t140.5 44q93 0 155 -65t62 -158zM478 196
q-27 49 -47 80t-50 67t-64 54t-73 18q-48 0 -81.5 -47t-33.5 -128q0 -96 37.5 -157.5t99.5 -61.5q68 0 117.5 47t94.5 128zM889 204q0 91 -35.5 151t-99.5 60q-68 0 -119 -47t-95 -127q27 -49 47 -80.5t50 -67.5t65 -54t74 -18q113 0 113 183z" /></g></svg> Control for Input-Delayed Systems 

Mathematical Problems in Engineering

Receding Horizon Control for Input-Delayed Systems

Figure 2