Time delay compensation for a class of nonlinear systems

In this paper we propose a robust control design method for a class of nonlinear systems with a time delay in the manipulated input. The time delay compensation strategy based on the Smith-like predictor (SLP) and the parameter diffeomorphism is used as a technique to robustify the cancellation of disturbances and mismatches between the real deadtime and the estimated deadtime. In particular, the proposed control law with the approach of parameter diffeomorphism provides techniques far on-line adjustment of controller parameter to achieve or maintain a desired level of system performance when the disturbances are unknown or variable. The design method is applied to a continuous stirred tank reactor (CSTR) system. Computer simulation shows results with satisfactory performance.