You can describe the state-space model with an input time delay as.
$$\dot{x_s(t)}=A_sx_s(t)+B_su(t-\tau)$$
$$\tilde{y_o}=C_sx_s(t-\tau)$$
[[LQR Problem for LTI system with input delay]]
Model-predictive Control
[[Feedforward Control]]
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[[State-Space Model]]