Time-delay compensation using nonlinear extended network disturbance

This paper investigates control design for time-delay compensation for the time-varying delayed systems, especially, the network transmission dynamics. We propose an idea of virtual disturbance, named nonlinear extended network disturbance (NEND), such that the delayed behavior of the considered model is treated as the effect of injecting NEND into the system. The larger the magnitude of NEND means that the system exhibits the greater time delay. In other words, performing NEND compensation achieves time-delay compensation. This NEND compensation is achieved by introducing the control scheme with an observer for NEND estimation. The proposed design has been verified in the wired network.