OUTPUT TRACKING CONTROL OF UNCERTAIN NONLINEAR-SYSTEMS WITH AN INPUT TIME-DELAY

Control design based on input-outputput feedback linearisation for a c lass of uncertain nonlinear systems with an input time delay is presen ted. The proposed parameterised co-ordinate transformation can transfo rm the system model into singularly perturbed dynamics. An adjustable parameter can be tuned to satisfy a particular specification. The unde rlying theoretical approach is the Lyapunov stability theory and Razum ikhin's stability theory. The key point of the paper is that the param eterised state feedback can effectively attenuate the output tracking error when the lumped nonlinearity satisfies the specific growth bound . The effectiveness of the method is illustrated by a simulation examp le on the temperature control of a nonisothermal chemical system with an input delay.