Backstepping design for time-delay nonlinear systems


The backstepping approach is adapted to the problem of globally uniformly asymptotically stabilizing nonlinear systems in feedback form with a delay arbitrarily large in the input. The strategy of design relies on the construction of a Lyapunov-Krasovskii functional. Continuously differentiable control laws are constructed. 
DOI: 10.1109/TAC.2005.861701


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