Can I somehow define an input delay?

Hi,

I am new to Model Predictive Control and want to implement a nonlinear mpc for a system with an input delay (id) in the state functions.

So instead of f(x(t),u(t)) i want to implement f(x(t),u(t-id)). Is that somehow possible? I meant it seems to be no problem for the linear mpc so it should be possible for the nonlinear mpc rigth?

thanks in advance.

[fouad koudsi]

https://www.mathworks.com/help/symbolic/pade-approximant-of-time-delay-input.html?s_tid=srchtitle

in Simulink:

https://www.mathworks.com/help/simulink/slref/delay.html?s_tid=srchtitle

https://www.mathworks.com/help/simulink/slref/transportdelay.html?s_tid=srchtitle