Passivity-based model reference robust control for a class of nonlinear systems with input and state measurement delays

This paper presents a model reference robust control framework that guarantees asymptotic stability of a class of nonlinear systems with arbitrarily large constant input and state measurement delays as well as uncertain system parameters. The proposed control framework combines the use of a modified wave scattering transformation to achieve overall stability and to enforce state convergence of the time delay nonlinear system to the desired state independently of unknown initial conditions, transmission losses, and computational errors. A numerical example illustrates the effectiveness of the proposed controller.