Robust Predictor Feedback for Discrete-Time Systems with Input Delays
Abstract
This work studies the design problem of feedback stabilizers for discrete-time systems with input delays. A backstepping procedure is proposed for disturbance-free discrete-time systems. The feedback law designed by using backstepping coincides with the predictor-based feedback law used in continuous-time systems with input delays. However, simple examples demonstrate that the sensitivity of the closed-loop system with respect to modeling errors increases as the value of the delay increases. The paper proposes a Lyapunov redesign procedure which can minimize the effect of the uncertainty. Specific results are provided for linear single-input discrete-time systems with multiplicative uncertainty. The feedback law that guarantees robust global exponential stability is a nonlinear, homogeneous of degree 1 feedback law.
Cite
@article{arxiv.1212.0767,
title = {Robust Predictor Feedback for Discrete-Time Systems with Input Delays},
author = {Iasson Karafyllis and Miroslav Krstic},
journal= {arXiv preprint arXiv:1212.0767},
year = {2012}
}
Comments
20 pages, 1 Figure, submitted for possible publication to the International Journal of Control