Control of Nonlinear Systems with Delays
The reader is introduced to the predictor feedback method for the control of general nonlinear systems with input delays of arbitrary length. The delays need not necessarily be constant but can be time-varying or state-dependent. The predictor feedback methodology employs a model-based construction of the (unmeasurable) future state of the system. The analysis methodology is based on the concept of infinite-dimensional backstepping transformation – a transformation that converts the overall feedback system to a new, cascade “target system” whose stability can be studied with the construction of a Lyapunov function.
KeywordsDistributed parameter systems Delay systems Backstepping Lyapunov function
- Krstic M, Kanellakopoulos I, Kokotovic PV (1995) Nonlinear and adaptive control design. Wiley, New YorkGoogle Scholar