On polytopic inclusions as a modeling framework for systems with time-varying delays

One of the important issues in networked control systems is the appropriate handling of the nonlinearities arising from uncertain time-varying delays. In this paper, using the Cayley–Hamilton theorem, we develop a novel method for creating discrete-time models of linear systems with time-varying input delays based on polytopic inclusions. The proposed method is compared with existing approaches in terms of conservativeness, scalability and suitability for controller synthesis.