Control of Systems with Arbitrary Bounded Input Delay Using Implicit Lyapunov Function Technique

International audienceThe paper presents control algorithms for systems with input delay. There are two main results based on using Implicit Lyapunov Function (ILF) technique: 1) an LMI-based approach is presented to evaluate the domain of attraction of a finite-time stable control in the case of the arbitrary bounded delayed control input; 2) a uniting control is designed with commutation between two laws providing a global boundedness of all trajectories of systems with any input delay, and convergence to the origin for a sufficiently small one. The results are also preserved for the time-varying delay case. The theoretical results are supported by numerical examples