Encyclopedia of Systems and Control

Living Edition
| Editors: John Baillieul, Tariq Samad

Control of Nonlinear Systems with Delays

Living reference work entry
DOI: https://doi.org/10.1007/978-1-4471-5102-9_17-1


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.


Distributed parameter systems Delay systems Backstepping Lyapunov function 
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Copyright information

© Springer-Verlag London 2014

Authors and Affiliations

  1. 1.Department of Mechanical and Aerospace Engineering, University of CaliforniaSan Diego, La Jolla, CAUSA