A Robust Dead-Time Compensation Scheme for Lipschitz Nonlinear Systems

The presence of delays is common in various real-life dynamic systems and can lead to several complications in terms of control design. In order to address the associated problems, dead-time compensators (DTC) structures are investigated herein. In particular, we propose an Observer-Predictor (O&P) structure, for systems whose variables are not measurable: an observer estimates the inaccessible variables, while a predictor compensates for the delay based on these estimates. For the case of generic nonlinear systems, applying such a strategy is more challenging, since ensuring stability and performance depends on specific characteristic of each nonlinearity. In this work, we benefit from Lipschitz conditions to develop a robust O&P based on non conservative uncertainty propagation sets. Accordingly, we demonstrate closed-loop stability with our scheme, which is also tested by means of numerical simulation.