Global regulation of a class of feedforward and non-feedforward nonlinear systems with a delay in the input

In this paper, we propose a new state feedback controller using dynamic gain for input-delayed systems with high-order nonlinearity terms in both feedforward and non-feedforward forms. The controller design is based on a reduction method to remove the input delay and a gain scaling technique involving appropriate powers of high-order nonlinearity. As a result, more generalized systems containing feedforward and nonfeedforward terms with an input delay are regulated when the proposed power order condition of the nonlinear function is satisfied. An example is given to show the generality of our result over existing results.