  In this paper we present a prediction-based Cooperative Adaptive Cruise
Controller for vehicles with actuation delay, applicable within heterogeneous
platoons. We provide a stability analysis for the discrete-time implementation
of this controller, which shows the effect of the used sampling times and can
be used for selecting appropriate controller gains. The theoretical results are
validated by means of experiments using full scale vehicles. This is an
extended version of a paper with the same title (submitted to IFAC TDS 2024).
Additional mathematical details are provided in this extended version.
