Robust predictor feedback for discrete-time systems with input delays |
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Authors: | Iasson Karafyllis Miroslav Krstic |
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Affiliation: | 1. Department of Mathematics, National Technical University of Athens, 15780, Athens, Greeceiasonkar@central.ntua.gr;3. Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA 92093-0411, USA |
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Abstract: | This work studies the design problem of feedback stabilisers 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 modelling errors increases as the value of the delay increases. The paper proposes a Lyapunov redesign procedure that can minimise 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. |
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Keywords: | predictor feedback discrete-time systems robustness |
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