Abstract
Abstract Direction-dependent models can represent a wide range of nonlinear systems. The design of a discrete time PI controller for these type of systems with time delay is addressed. The asymptotic stability of the closed loop system is established by means of Lyapunov theory. The tuning strategy is based on solving an optimization problem with LMI constraints. A simple example illustrates the effectiveness of the proposed approach. Extensions to include more complex temporal closed-loop specifications and switched PI controllers are part of our current interest.
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