Control Lyapunov-Razumikhin functions and robust stabilization of time delay systems

Motivated by control Lyapunov functions and Razumikhin theorems on stability of time delay systems, we introduce the concept of control Lyapunov-Razumikhin functions (CLRF). The main reason for considering CLRFs is construction of robust stabilizing control laws for time delay systems. Most existing universal formulas that apply to CLFs, are not applicable to CLRFs. It turns out that the domination redesign control law applies, achieving global practical stability and, under an additional assumption, global asymptotic stability. This additional assumption is satisfied in the practically important case when the quadratic part of a CLRF is itself a CLRF for the Jacobian linearization of the system. The CLRF based domination redesign possesses robustness to input unmodeled dynamics including an infinite gain margin. While, in general, construction of CLRFs is an open problem, we show that for several classes of time delay systems a CLRF can be constructed in a systematic way