Robust switching control systems with input delay

Abstract

This paper uses the concept of multiple models and the concept of switching controllers. The analog part of the system is described by a finite set of continuous-time models with input delays. The continuous-time models include unmodeled dynamics in the form of affine matrix family. By using suitable transformation, the models with input delay are converted into delay free models. Then, by using the LMI tool, the class of robust LQ controllers with the prescribed degree of stability is proposed and for every controller the upper bound for the performance index is given. The switching logic is based on the selection of minimal upper bound from the collection of upper bounds. Finally, it is shown by means of performance dominant conditions, that the resulting closed-loop is stable.