The bang-bang funnel controller: time delays and case study

We investigate the recently introduced bang-bang funnel controller with respect to its robustness to time delays. We present slightly modified feasibility conditions and prove that the bang-bang funnel controller applied to a relative-degree-two nonlinear system can tolerate sufficiently small time delays. A second contribution of this paper is an extensive case study, based on a model of a real experimental setup, where implementation issues such as the necessary sampling time and the conservativeness of the feasibility assumptions are explicitly considered.