## 1 Introduction
The authors of [29] discuss the feedback controller as a non-parametric controller, such as an FIR filter, which eliminates the need to determine the desired orders of the feedback controller, and verify its performance on a simple RC circuit. The use of FIR and IIR filters for measurements in high-speed control systems for power electronics is widely explored in [25; 28; 30; 31]. The authors of [25] present a solution to certain filtering problems in measurements, where a low-pass filter (LPF) is replaced by a finite impulse response (FIR) filter and removed from the RC internal model. The proposed method improves the convergence speed of harmonic suppression. An important feature of the control strategy in [28], which uses an FIR filter, is used as compensation for sampling and computation delay. The FIR filter is optimized as a predictor, minimizing errors in the prediction of low-order harmonics in the control variable. A minimum-phase FIR filter ensures a fast transient response and is designed to control the output voltage to achieve a desired frequency response in [30]. The authors of [31] present approaches using digital FIR filters for speed and position measurement in a resolver-to-digital conversion implementation. Their analysis of different window functions shows the influence of these windows on measurement position error. The implementation of a complex Generalized Predictive Control (GPC) speed controller using an FIR filter for an induction machine is presented in [32], though the results are not compared with any reference system. The proposed mathematical form is written as a set of FIR filters, a simple view that makes on-chip implementation straightforward. Based on the above analysis, a new solution was proposed and tested on two different object structures. The first test was conducted through simulations on a _Integral-Integral Plus Delay_ (I2 PD)-type object. A double-integrating structure can represent the positioning process of an _Unmanned Aerial Vehicle_ (UAV) [33]. In cases with control loop delays and disturbances (e.g., wind gusts), achieving astatic control in real conditions may require advanced control concepts. It was assumed that increasing the response speed to disturbances is important for achieving high-quality control indicators. The concept was also tested on a drive system with a _Permanent Magnet Synchronous Motor_ (PMSM). These motors are widely used in both domestic and industrial applications. The development of PMSM control methods remains an ongoing research task [9; 10; 34; 35; 36] due to their advantages, such as high efficiency, high dynamics, and a high power-to-weight ratio. A testbed was identified for simulation research, and a simplified electric drive model was tested based on these parameters, followed by validation on a laboratory test bench. This article presents solutions known from the literature and compares their performance with that of the proposed structure. The proposed structure not only improves the quality indicators in comparison to the reference systems but also enables the selection procedure to begin with typical, safe settings, chosen in accordance with the known criteria for determining parameters. This article is organized as follows: Section 1 introduces the issue of control and solutions for delayed systems. Section 2 shows how to extend a typical controller to achieve better drive characteristics. Section 3 presents a simulation comparison of a system with a reference controller and a system with a modified controller for a simple object. Section 4 presents a simulation comparison for a PMSM speed control system. Then, the experimentally obtained results from the PMSM are presented in section 5 and compared to proceding simulation. It can be seen that there is high agreement between the simulation and laboratory experiment. Section 6 is a summary of the obtained results.