Output tracking control of uncertain nonlinear systems with an input time delay

Control design based on input-outputput feedback linearisation for a class of uncertain nonlinear systems with an input time delay is presented. The proposed parameterised co-ordinate transformation can transform the system model into singularly perturbed dynamics. An adjustable parameter can be tuned to satisfy a particular specification. The underlying theoretical approach is the Lyapunov stability theory and Razumikhin's stability theory. The key point of the paper is that the parameterised state feedback can effectively attenuate the output tracking error when the lumped nonlinearity satisfies the specific growth bound. The effectiveness of the method is illustrated by a simulation example on the temperature control of a nonisothermal chemical system with an input delay.