On the prediction error of dead-time compensation control for constrained nonlinear systems

This paper presents a dead-time compensation strategy to control constrained nonlinear systems with single-input delay by using a dead-time free model. Prediction error and disturbance effects are analyzed in order to guarantee input-to-state stability (ISS) and robust constraint satisfaction in the presence of bounded disturbances. It is shown robust constraint satisfaction and ISS are ensured by imposing tighter constraints and a modified ISS condition to the dead-time free model. These modified specifications are derived in terms of a K function description in order to reduce Lipschitz constant conservatism. A numerical comparison based on the CSTR reactor model is presented to illustrate the advantage of the proposed approach.