Robustness to Delay Mismatch
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.
KeywordsExponential Stability Input Delay Lyapunov Function Versus Delay Length Delay Compensation
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