Global sampled-data output feedback stabilisation of a class of upper-triangular systems with input delay

This study investigates the problem of designing a sampled-data output feedback controller to globally stabilise a class of upper-triangular systems with delay in the input. By using a linear observer, a linear dynamic sampled-data output feedback control law is explicitly constructed. To dominate the unknown non-linear perturbing terms and handle the case with a larger input delay, a tunable scaling gain is introduced to the controller by using a coordinates change. With the help of an appropriate Lyapunov-Krasoveskii functional and the technique of sampled-data output-feedback domination, it is shown that the considered upper-triangular non-linear system with any bounded input delay can be globally stabilised by the proposed controller with appropriate gains. Finally, an example is given to verify the efficiency of the proposed method.