Reachability and minimum energy control of positive 2D systems with delays

The notion of internally positive 2D model (system) with delays is introduced. Solution of the 2D linear models with delays is derived. Necessary and sufficient conditions for the internal positivity and reachability of the models are established. The Cayley-Hamilton theorem for the 2D linear models with delays is extended. The minimum energy control for the internally positive 2D models with delays is formulated and solved.