Robust ℒ2 disturbance attenuation for a class of uncertain Lipschitz nonlinear systems with input delay

Abstract

ABSTRACTIn this paper, we study a robust disturbance attenuation problem that arises when applying the Artstein–Kwon–Pearson reduction transformation for a class of uncertain Lipschitz nonlinear systems with input delay and external disturbances. A conventional predictor-based feedback controller is adopted with the control gain matrix carefully identified by solving a couple of sufficient conditions in terms of linear matrix inequalities . Lyapunov–Krasovskii functionals are constructed to guarantee that the robust disturbance attenuation problem can be solved by the proposed controller. A numerical example is included to validate the performance of the proposed controller.