Digital modeling and hybrid control of sampled-data uncertain system with input time delay using the law of mean (Q1303248)

An interval Padé approximation is proposed for converting a continuous-time uncertain system with input delay into a discrete-time interval model. It is shown that the resulting discrete-time interval model tightly encloses the exactly discretized continuous-time uncertain system with input delay. Consequently, the analysis and design of the continuous-time system can be indirectly addressed in the discrete-time domain. The law of mean and interval arithmetic are used to transform a continuous-time predictor control law into a discrete-time controller, whose implementation is a much simpler task. Given a continuous-time plant with uncertainties and input delay, the states of the digitally controlled plant closely match the states of the plant controlled by the originally well-designed continuous-time controller. A numerical example and adequate simulation experiments, allowing comparisons between the continuous- and discrete-time models, illustrate the effectiveness of the method.