Time delay compensation for a class of nonlinear systems

In this paper we propose a robust control design method for a class of nonl inear systems with a time delay in the manipulated input. The time delay co mpensation strategy based on the Smith-like predictor (SLP) and the paramet er diffeomorphism is used as a technique to robustify the cancellation of d isturbances and mismatches between the real deadtime and the estimated dead time. In particular, the proposed control law with the approach of paramete r diffeomorphism provides techniques far on-line adjustment of controller p arameter to achieve or maintain a desired level of system performance when the disturbances are unknown or variable. The design method is applied to a continuous stirred tank reactor (CSTR) system. Computer simulation shows r esults with satisfactory performance.