Abstract
As we have seen in Chapter 2, the backstepping method helps construct an explicit Lyapunov–Krasovskii functional for the predictor feedback. One benefit of this construction is the possibility of inverse-optimal and disturbance attenuation designs, both presented in Chapter 4.
The second major benefit of the Lyapunov construction is that one can prove robustness of exponential stability of the predictor feedback to a small mismatch in the actuator delay, in both the positive and negative directions.
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© 2009 Birkhäuser Boston
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Krstic, M. (2009). Robustness to Delay Mismatch. In: Delay Compensation for Nonlinear, Adaptive, and PDE Systems. Systems & Control: Foundations & Applications. Birkhäuser Boston. https://doi.org/10.1007/978-0-8176-4877-0_5
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DOI: https://doi.org/10.1007/978-0-8176-4877-0_5
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