Stabilizing controllers design for feedforward nonlinear time-delay systems

This paper deals with the asymptotical stability problem for a class of feedforward nonlinear systems with delays in the state and input. The uncertainties in the systems are assumed to be dominated by upper polynomial functions multiplying by an incremental rate depending on the input or delayed input. Based on the state transformation of nonlinear systems and the Lyapunov method, both linear state feedback and linear output feedback controllers with dynamic low gains are provided. The theoretical results are illustrated with an academic example.