Backstepping Transformation of Input Delay Nonlinear Systems
Dynamical Systems
2013-05-24 v1 Optimization and Control
Abstract
We present here the details of a backstepping transformation aiming at reformulating the dynamics of a nonlinear systems subject to unknown long input delay in a form which is suitable for Lyapunov stability analysis. The control law underlying this transformation is predictor-based, as often considered for long delays. The proposed transformation follows recent results of the literature, based on the representation of the constant actuator delay as a transport Partial Differential Equation (PDE).
Cite
@article{arxiv.1305.5305,
title = {Backstepping Transformation of Input Delay Nonlinear Systems},
author = {Delphine Bresch-Pietri and Miroslav Krstic},
journal= {arXiv preprint arXiv:1305.5305},
year = {2013}
}