입력지연을 갖는 이산시간 선형시스템을 위한 의사예측기 제어기의 안정성 해석

Abstract

We establish a sufficient condition to guarantee the global exponential stability when the existing pseudo-predictor controller is applied to discrete-time linear systems with constant input delays. By modeling the constant input delay with a first-order PdE (Partial difference Equation) and applying a backstepping transformation, we build a target system that enables the construction of an explicit Lyapunov function. By constructing the explicit Lyapunov function that covers the entire state variables, we derive a sufficient condition to guarantee the global exponential stability. In addition, the proposed analysis method facilitates the analysis of transient state performance because it allows the estimation of an exponential convergence rate. The numerical example demonstrates the validity of the sufficient condition for the global exponential stability and the usefulness of the proposed method for the design and analysis of transient state performance.