Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Exponential Stability of Predictor Feedback for Discrete-Time Linear Systems with Input Delays

입력 지연을 갖는 이산시간 선형 시스템을 위한 예측기 피드백의 지수적 안정성

  • Choi, Joon-Young (Department of Electronics Engineering, Pusan National University)
  • 최준형 (부산대학교 전자공학과)
  • Received : 2013.04.24
  • Accepted : 2013.05.29
  • Published : 2013.07.01
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Abstract

We consider discrete-time LTI (Linear Time-Invariant) systems with constant input delays. The input delay is modeled by a first-order PdE (Partial difference Equation) and a backstepping transformation is employed to design a predictor feedback controller. The backstepping approach results in the construction of an explicit Lyapunov function, with which we prove the exponential stability of the closed-loop system formed by the predictor feedback. The numerical example demonstrates the design of the predictor feedback controller, and illustrates the validity of the exponential stability.

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