Robust H∞ control for uncertain time delay systems containing saturating nonlinear actuators

Robust H_∞ control problem for uncertain time-delay systems containing saturating nonlinear actuators is considered. The uncertainty in the system is assumed to satisfy specific match condition. The time delays exist in state as well as control. New robust stabilizable criterion and a sufficient condition for the existence of robust stabilizing control law are derived. The delay-independent memoryless robust H_∞ controllers are constructed to stabilize the given system in terms of a group of linear matrix inequalities. The complex degree of numerical computing for HJI inequality can be overcome by using the LMI tool