Decentralized Robust Servomechanism Problem for Systems with Distributed Time-Delay

The problem of desining stabilizing decentralized controllers to achieve robust asymtotic traking of certain references despite certain disturbances, which is called as the decentralized robust servomecanism problem, is consdered for lineer time-invarant (LTI) systems with disributed timedelay. The formulation, however, allows the reprsentation of discrete and distributed time-delays together. It is asumed that, the references and the distrbance satisfy a LTI delaydiferential equation with distrubuted and/or discrete timedelays. The case of references and the disturbance satisfying a LTI diferential equation can also be treated. The necesary and suficient condtions for the solvbility of this problem are derived. The strcture of the controler, when a solution exists, is also presented.