An LMI based design for time-delayed systems with actuator failures

The design of a reliable state feedback control is considered for a class of uncertain systems with actuator failures as well as delays in control inputs. The model uncertainties are unknown but bounded. By applying the Lyapunov stability criteria, state feedback controllers are designed for the systems with control delays in the framework of Linear Matrix Inequality (LMI). It shows that the design can be directly applied to the delay-free systems as a special case. The results for stability are delay-dependent, which are less conservative than delay-independent ones. The obtained controller can guarantee the robust stability of the system for both normal operation and actuator failure cases. In addition to the system stability, the failure induced disturbance attenuation is achieved. An example is given to illustrate the proposed method.