Saturated delayed controls for nonlinear multiple integrators

This paper presents saturated delayed controls for nonlinear multiple integrators that are in a feedforward form, guaranteeing that the closed-loop system are globally asymptotically stable at the origin. To compensate input delay of arbitrary length, the suggested algorithm depends on suitable normal forms rather than the homogeneity of multiple integrators, and consequently leads to the parameterizations different from the existing one. To illustrate the algorithm, saturated delayed controls are presented for the inertia wheel pendulum.