Approximate model-matching for nonlinear systems with a small time-delay; application to a chaotic Chua circuit

Controller design procedures for nonlinear systems with small time-delay in the control input are proposed. These controllers solve approximately the model-matching problem. The delayed nonlinear system is represented in an approximate form by a system having a singular perturbation structure free from time-delays. The controller is an improved version of that one corresponding to a design where the delay is neglected. An application to a Chua system presenting a short delay in the control input, and displaying regular and chaotic dynamics, illustrates the proposed procedure