Event-triggered control for continuous-time linear systems with a delay in the input (Q2667761)

It is considered the controlled system \[ \displaystyle{\dot{x}(t) = A(t)x(t) + B(t)u(t) = \delta(t)\;\ |\delta(t)|\leq\bar{\delta}(t)} \] where \(\bar{\delta}(t)\) is a known bounded piecewise continuous function. There are introduced the sub-predictors \[ \displaylines{\displaystyle{\dot{z}_1(t)=A(t+\tau/m)z_1(t)+B(t+\tau/m)u(t-((m-1)/m)\tau) + L(t+\tau/m)[z_1(t-\tau/m)]-x_1(t)]}\cr \displaystyle{\dot{z}_2(t)=A(t+2\tau/m)z_2(t) + B(t+2\tau/m)u(t-((m-2)/m)\tau) + L(t+2\tau/m)[z_2(t-\tau/m)-z_1(t)]}\cr \vdots\cr \displaystyle{\dot{z}_m(t)=A(t+\tau)z_m(t) + B(t+\tau)u(t) + L(t+\tau)[z_m(t-\tau/m)-z_{m-1}(t)]}} \] The control \(u(t)\) is given by \(u(t-\tau)=K(t)z_m(t-\tau)\). Under some additional assumptions a global estimate of \(x(t)\) is given.