A robust feedback gains for linear systems with multiple delay components

In this paper, a selection of gains to make the systems robust to uncertainty in the delayed plant is proposed. In this work, we remove many assumptions that had been made for so many years in many works. Here the uncertainty can be assumed as natural as possible, i.e., the uncertainty can be treated without assumption of constant bound nor bound as function of the states. It is also shown that using this scheme we can also the state feedback gains can be synthesized. It shown from the numerical results that the method is effective.