In this technical note, we show that Immersion and Invariance is a natural framework for the design of sampled-data stabilizing controllers for input-delayed systems. Assuming the existence of a continuous-time feedback in the delay free case, Immersion and Invariance stabilizability of the equivalent sampled-data dynamics is proven. The proof is constructive for the stabilizing controller. Two simulated examples illustrate the performances.
Sampled-data stabilization of nonlinear dynamics with Input delays through immersion and invariance / Monaco, Salvatore; Normand Cyrot, Dorothee; Mattioni, Mattia. - In: IEEE TRANSACTIONS ON AUTOMATIC CONTROL. - ISSN 0018-9286. - STAMPA. - 62:5(2017), pp. 2561-2567. [10.1109/TAC.2016.2601302]
Sampled-data stabilization of nonlinear dynamics with Input delays through immersion and invariance
MONACO, Salvatore;MATTIONI, MATTIA
2017
Abstract
In this technical note, we show that Immersion and Invariance is a natural framework for the design of sampled-data stabilizing controllers for input-delayed systems. Assuming the existence of a continuous-time feedback in the delay free case, Immersion and Invariance stabilizability of the equivalent sampled-data dynamics is proven. The proof is constructive for the stabilizing controller. Two simulated examples illustrate the performances.| File | Dimensione | Formato | |
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