Truncated Prediction Output Feedback Control of a Class of Lipschitz Nonlinear Systems With Input Delay

This brief addresses an output feedback control design for Lipschitz nonlinear systems in the presence of input delay. A nonlinear observer is introduced to estimate the system states. A truncated predictor state feedback, which is the conventional predictor state feedback law with the distributed term dropped, is implemented with the estimated states. Lyapunov-Krasovskii functionals are constructed to establish conditions under which this observer-based truncated predictor feedback law asymptotically stabilizes the system at the origin. The effectiveness of the proposed method is demonstrated on Chua's circuit.