Delay-independent stability analysis of internet-based tele-operation

This paper presents a sufficient stability condition for internet-based tele-operation systems in terms of LMI. The tele-operation scheme is modeled in state-space as a time-delay system in retarded form and a delay-independent stability criterion is extracted. By choosing Lyapunov-Krasovski functional, we show that the internet-based tele-operation system is stable and has good performance under specific LMI condition. With the given controller design parameters, stability of system is guaranteed in the presence of any value of delay. Numerical simulations are performed to verify the theoretical results.