Robust design of dead-time compensator controllers for constrained non-linear systems

This paper presents a predictor based approach to design robust controllers for nonlinear dead-time systems. A dead-time compensation structure is proposed for constrained control systems with bounded disturbances and dead-time. It is shown that input-to-state stability (ISS) and constraint satisfaction of the controlled system can be guaranteed if the control law stabilizes (in the ISS sense) an equivalent nonlinear dead-time free system. This result allows the simplification of the controller synthesis which is performed for the dead-time free model of the process. Some simulation results are used to illustrate the performance obtained with the proposed scheme.