Output Tracking Control for High-Order Nonlinear Systems with Time Delay via Output Feedback Design

Abstract

Design approach of an output feedback tracking controller is proposed for a class of high-order nonlinear systems with time delay. To deal with the time delays, an appropriate Lyapunov–Krasovskii the tracking analysis is ingeniously constructed, and an output feedback tracking controller is designed by using a homogeneous domination method. It is shown that the proposed output controller independent of time delay can make the tracking error be adjusted to be sufficiently small and render all the trajectory of the closed-loop system as bounded. An example is given to illustrate the effectiveness of the proposed method.

Keywords

• practical tracking
• time delay
• high-order nonlinear systems
• output feedback
• Lyapunov–Krasovskii functional