High-gain-predictor-based output feedback control for time-delay nonlinear systems

This paper designs a high-gain predictor (HGP) for the output feedback control of nonlinear systems in the presence of control, output, and state delays. The high-gain predictor realizes the states appearing in the output feedback control in terms of predictive state, delayed state, and current state. The system is combined by internal and external dynamics, and the closed-loop system with time-delays is supposed globally asymptotically stable and locally exponentially stable. Positively invariant sets are found to verify boundedness, ultimate boundedness, and exponential stability of the closed-loop system. In the simulation, a bounded sliding mode control is applied to demonstrate the performance recovery of the closed-loop system, and the fact that the high-gain-predictor parameter has a lower bound related to the time-delays.