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Robust controller design for input-delayed systems using pbkp_redictive feedback and an uncertainty estimator

Abstract:

This paper deals with the problem of stabilizing a class of input-delayed systems with (possibly) nonlinear uncertainties by using explicit delay compensation. It is well known that plain pbkp_redictive schemes lack robustness with respect to uncertain model parameters. In this work, an uncertainty estimator is derived for input-delay systems and combined with a modified state pbkp_redictor, which uses current available information of the estimated uncertainties. Furthermore, based on Lyapunov–Krasovskii functionals, a computable criterion to check robust stability of the closed-loop is developed and cast into a minimization problem constrained to an LMI. Additionally, for a given input delay, an iterative-LMI algorithm is proposed to design stabilizing tuning parameters. The main results are illustrated and validated using a numerical example with a second-order dynamic system. Copyright © 2016 John Wiley & Sons, Ltd.