LK stability analysis of predictor-based controllers for discrete-time systems with time-varying actuator delay

Antonio Gonzalez Sorribes (1) , Antonio Sala , Roberto Sanchis

1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201

This paper extends the scaled-small gain proposal in Li and Gao (2011) [14], modifying the Lyapunov–Krasovskii functional to analyze the robust stability of predictor-based state-feedback controllers for discrete-time systems with model uncertainties and unknown time-varying delays in the control input. Results show that the use of predictors improves the achieved robustness margin over static state feedback in some cases, as expected, due to the extra information available to the controller.

Mots clés: Input–output approach; Discrete; Linear matrix inequality (LMI); Lyapunov–Krasovskii (LK) functional

Domaines: Automatique / Robotique

Antonio Gonzalez Sorribes, Antonio Sala, Roberto Sanchis. LK stability analysis of predictor-based controllers for discrete-time systems with time-varying actuator delay. Systems and Control Letters, 2013, 62 (9), pp.764-769. ⟨10.1016/j.sysconle.2013.05.009⟩. ⟨hal-03615588⟩