Regional Stabilization of Input-Delayed Uncertain Nonlinear Polynomial Systems

Abstract

This paper addresses the problem of local stabilization of nonlinear polynomial control systems subject to time-varying input delay and polytopic parameter uncertainty. A linear matrix inequality approach based on the Lyapunov–Krasovskii theory is proposed for designing a nonlinear polynomial state feedback controller ensuring the robust local uniform asymptotic stability of the system origin along with an estimate of its region of attraction. Two convex optimization procedures are presented to compute a stabilizing controller ensuring either a maximized set of admissible initial states for given upper bounds on the delay and its variation rate or a maximized lower bound on the maximum admissible input delay considering a given set of admissible initial states. Numerical examples demonstrate the potentials of the proposed stabilization approach.