Abstract
This paper extends the scaled-small gain proposal in Li and Gao (2011) [14], modifying the LyapunovKrasovskii functional to analyze the robust stability of predictor-based state-feedback controllers for discrete-time systems with model uncertainties and unknown time-varying delays in the control input. Results show that the use of predictors improves the achieved robustness margin over static state feedback in some cases, as expected, due to the extra information available to the controller.
