Nonlinear predictor feedback

Abstract

The difference between the two categories of systems is that those in category 1 will lend themselves to global stabilization by predictor feedback in the presence of an arbitrarily long delay, whereas systems in category 2 may suffer finite escape before the control “kicks in” at t=D and for this reason are not globally stabilizable (the achievable region of attraction will depend on D). The system category 2 is clear–it includes many systems that have high-growth nonlinearities and where the control must act aggressively to prevent explosive instability. Such systems have been studied using the nonlinear “backstepping” design [112] for strict-feedback systems and other approaches.