IEEE Transactions on Automatic Control, Vol.62, No.5, 2561-2567, 2017
Sampled-Data Stabilization of Nonlinear Dynamics With Input Delays Through Immersion and Invariance
In this technical note, we show that Immersion and Invariance is a natural framework for the design of sampled-data stabilizing controllers for input-delayed systems. Assuming the existence of a continuous-time feedback in the delay free case, Immersion and Invariance stabilizability of the equivalent sampled-data dynamics is proven. The proof is constructive for the stabilizing controller. Two simulated examples illustrate the performances.