This study proposes a new scheme for the sampled-data representation of nonlinear systems with time-delayed multi-input. The proposed scheme is based on the Taylor-series expansion and zero-order hold assumption. The mathematical structure of a new discretization scheme is explored. On the basis of this structure, the sampled-data representation of nonlinear systems including time-delay is derived. The new scheme is applied to nonlinear systems with two inputs and then the delayed multi-input general equation is derived. The resulting time-discretization provides a finite-dimensional representation of nonlinear control systems with time-delay enabling existing controller design techniques to be applied to them. In order to evaluate the tracking performance of the proposed scheme, an algorithm is tested for some of the examples including maneuvering of an automobile and a 2-DOF mechanical system.
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Park, J.H., Chong, K.T., Kazantzis, N. et al. Time-discretization of nonlinear systems with delayed multi-input using Taylor series. KSME International Journal 18, 1107–1120 (2004). https://doi.org/10.1007/BF02983285
- Nonlinear System