A New Stability Analysis of Time Delay Control for Input/Output Linearizable Plants

Abstract

Time Delay Control(TDC) is a robust nonlinear control scheme that uses Time Delay Estimation(TDE). The TDC has a very simple structure, and its application on a real system needs its stability he guaranteed. The existing work has proposed sufiicient stability condition of TDC for inputloutput linearizable plants in that it has been assumed that time delay was infinitesimal. However, it is impassible to implement infinitesimal time delay in a real system. Therefore, in this research we propose a new sufiicient stability condition of TDC for inputloutput linearizable plants with finite a time delay. It can be verified hy simulation results that the existing sufiicient stability condition fails even under small time delays while the proposed condition performs well