Robustness to Delay Mismatch

  • Miroslav Krstic
Part of the Systems & Control: Foundations & Applications book series (SCFA)


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.


Exponential Stability Input Delay Lyapunov Function Versus Delay Length Delay Compensation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Birkhäuser Boston 2009

Authors and Affiliations

  1. 1.Department of Mechanical and Aerospace EngineeringUniversity of CaliforniaSan Diego, La JollaUSA

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