Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/61315
Title: Time-varying input and state delay compensation for uncertain nonlinear systems
Authors: Kamalapurkar, R
Fischer, N
Obuz, S
Dixon, WE
Keywords: Design space exploration (DSE)
High-level synthesis (HLS)
Issue Date: 2016
Publisher: Institute of Electrical and Electronics Engineers
Source: IEEE transactions on automatic control, 2016, v. 61, no. 3, 7140771, p. 834-839 How to cite?
Journal: IEEE transactions on automatic control 
Abstract: A robust controller is developed for uncertain, second-order nonlinear systems subject to simultaneous unknown, time-varying state delays and known, sufficiently small time-varying input delays in addition to additive, sufficiently smooth disturbances. An integral term composed of previous control values facilitates a delay-free open-loop error system and the development of the feedback control structure. A stability analysis based on Lyapunov-Krasovskii (LK) functionals guarantees uniformly ultimately bounded tracking under the assumption that the delays are bounded and slowly varying. Numerical simulations illustrate robustness of the developed method to various combinations of simultaneous input and state delays.
URI: http://hdl.handle.net/10397/61315
ISSN: 0018-9286
EISSN: 1558-2523
DOI: 10.1109/TAC.2015.2451472
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