A new stability analysis of time delay control for input/output linearizable plants

Time delay control (TDC) is a robust nonlinear control scheme that uses time delay estimation (TDE). The TDC has a very simple structure, and its application on a real system needs its stability be guaranteed. The existing work has proposed sufficient stability condition of TDC for input/output linearizable plants in that it has been assumed that time delay was infinitesimal. However, it is impossible to implement infinitesimal time delay in a real system. Therefore, in this research we propose a new sufficient stability condition of TDC for input/output linearizable plants with finite a time delay. It can be verified by simulation results that the existing sufficient stability condition fails even under small time delays while the proposed condition performs well.