OBSERVER-BASED STATE FEEDBACK REMOTE CONTROL WITH BOUNDED TIME-VARYING DELAYS

This paper investigates the problem of remote stabilization via communication networks with uncertain, "nonsmall", time-varying, non-symmetric transmission delays affecting both the control input and the measured output. More precisely, this paper focuses on a closed-loop Master-Slave setup with a TCP network as communication media, and an observer-based state-feedback control approach to deal with the stabilization objective. First, we establish some asymptotic stability criteria regarding to a Lyapunov-Krasovskii functional derived from a descriptor model transformation, in case of "non-small" delays (that are time-varying delays with non-zero lower bounds). Then, some stability conditions are given in terms of Linear Matrix Inequalities which are used, afterwards, to design the observer and controller gains. Finally, the proposed stabilizing approach is illustrated through numerical and simulation results, related to the remote control of a "ball and beam" system.