KSME International Journal

, Volume 18, Issue 7, pp 1107–1120 | Cite as

Time-discretization of nonlinear systems with delayed multi-input using Taylor series

  • Ji Hyang Park
  • Kil To Chong
  • Nikolaos Kazantzis
  • Alexander G. Parlos


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.

Key Words

Nonlinear System Time-Discretization Time-Delay Multi-Input Taylor-Series 


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Copyright information

© The Korean Society of Mechanical Engineers (KSME) 2004

Authors and Affiliations

  • Ji Hyang Park
    • 1
  • Kil To Chong
    • 1
  • Nikolaos Kazantzis
    • 2
  • Alexander G. Parlos
    • 3
  1. 1.Division of Electronics and Information EngineeringChonbuk National UniversityDuckjin-Dong, Duckjin-Gu, JeonjuKorea
  2. 2.Department of Chemical EngineeringWorcester Polytechnic Institute WorcesterMAUSA
  3. 3.Department of Mechanical Engineering Texas A & M University College StationTexasUSA

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