Dominant-Pole Placement for Predictor Synthesis

TL;DR

This paper presents a novel dominant-pole placement method for predictor synthesis in nonlinear input-delay systems, improving stability and delay-gain trade-offs through cascade sub-predictors and spectral tuning.

Contribution

It introduces a new predictor synthesis approach using dominant-pole placement and cascade sub-predictors to enhance stability and delay margins in nonlinear systems.

Findings

Achieves better delay-gain margin trade-off

Ensures input-to-state stability with descriptor Lyapunov-Krasovskii functionals

Outperforms existing high-gain prediction methods

Abstract

This article analyzes the high-gain prediction approach for nonlinear input-delay systems. The problem is discussed in the light of weighted homogeneity and input-to-state stability. The canonical form for uniformly observable nonlinear systems allows tuning the spectrum of the linear part by multiplicity-induced dominance and ensures closed-loop system input-to-state stability using the descriptor method for Lyapunov-Krasovskii functionals. Due to the trade-off between delay and gain margin, a limitation of high-gain results for time-delay systems. The limitation is overcome by using a cascade of sub-predictors. A comparative analysis is also presented, showing that our proposal achieves a better trade-off between delay and gain margin.