Robust H∞ Control of Uncertain Nonlinear Systems with State and Input Time-varying Delays

In this paper, the problem of robust H-infinity controller design for uncertain nonlinear systems with state and input time delays is considered. Firstly, for a class of uncertain nonlinear systems with constant delays, a set of sufficient conditions are given, which guarantee the closed-loop system is robust stable and has H-infinity performance gamma. Then, for a class of uncertain nonlinear systems with time delay, the controller is designed, and it is proved that the corresponding closed-loop system is robust stable and has H-infinity performance gamma under certain appropriate conditions. Finally, a numerical example illustrates the effectiveness of the proposed method.