A STATE FEEDBACK CONTROL METHODOLOGY FOR NONLINEAR SYSTEMS WITH TIME/STATE DEPENDENT INPUT DELAY

This paper proposes a methodology for state feedback stabilization of nonlinear systems with time-varying input delay, and more particularly when the delay varies w.r.t. the state variables. The control design approach is based on state prediction computation, and the numerical issue resulting from the actual implementation of such a control law is also discussed. The overall method is in particular illustrated on an example of water flow control in open-channel systems.