Linear time invariant control systems with time delays in both state and control variables are studied. The problem is to design a controller so that the system response will follow a given reference input with zero steady-state error. The reference input is assumed to be a polynomial function of time. The controller is based on feeding forward the reference input and its delayed values. A method is derived for determining the feed-forward gain matrices. Necessary and sufficient condition for the existence of proposed tracking controller is also obtained. An example is given to illustrate the proposed method.

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