Abstract:A class of robust preview control problems of multirate input uncertain discrete-time systems with input delay are studied. Firstly, by using the discrete-time lifting technique to eliminate the input delay and the multirate characteristic, the problem is converted into the robust preview control problem for a single-rate uncertain system. Then, according to the basic method of preview control, an augmented error system containing future target information is constructed, and an optimal preview controller for the corresponding nominal system is designed. Based on the controller and Lyapunov stability theory, some robust stability criterions of the uncertain closed-loop system are obtained. Finally, numerical simulation results show the effectiveness of the proposed method.