Control of a Class of Nonlinear Systems with Input Delay Using Mean Value Theorem Approach

Abstract

This work examines controller design based on feedback linearization of a nonlinear system in the presence of time delay. Various analytic constraints make it difficult to design a controller in the conventional manner for a nonlinear system with input delay. Using a input delaydependent feedback linearization algorithm, a nonlinear input delay system having a linear input-output map can be determined. In this work both the nominal and compensating parts of the system are individually handled and then combined to get a complete linear representation of the original system. A controller is designed base on Linear Quadratic regulator (LQR) theory for the linearized system to illustrate the effectiveness of the proposed method. Also sufficient conditions are mentioned which guarantee the stability of the closed loop system with input delay.