Prediction-based stabilization of single-input nonlinear systems with unknown delay

Abstract

We introduce an inexact prediction-based controller for nonlinear systems with single-input unknown delay. The controller is established by an inexact predictor that compensates for the delay robustly, guaranteeing exponential stability for the closed-loop system. As a precondition, we are requested to select a suitable constant in a narrow enough range as the prediction horizon, which can offset the partial effect of the delay. In the end, a simulation example is presented to illustrate the validity of the theoretical results.