Trajectory tracking control of kites with system delay

A previously published algorithm for trajectory tracking control of tethered wings, i.e. kites, is updated in light of recent experimental evidence. The algorithm is, furthermore, analyzed in the framework of delay differential equations. It is shown how the presence of system delay influences the stability of the control system, and a methodology is derived for gain selection using the Lambert W function. The validity of the methodology is demonstrated with simulation results. The analysis sheds light on previously poorly understood stability problems.