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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2603.12439 |
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| _version_ | 1866917337658032128 |
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| author | Yu, Xin Lin, Wei |
| author_facet | Yu, Xin Lin, Wei |
| contents | This paper presents a Lyapunov-Halanay method to study global asymptotic stabilization (GAS) of nonlinear retarded systems subject to large constant delays in input/output - a challenging problem due to their inherent destabilizing effects. Under the conditions of global Lipschitz continuity (GLC) and global exponential stabilizability (GES) of the retarded system without input delay, a state feedback controller is designed based on sequential predictors to make the closed-loop retarded system GAS. Moreover, if the retarded system with no output delay permits a global exponential observer, a dynamic output compensator is also constructed based on sequential predictors, achieving GAS of the corresponding closed-loop retarded system with input/output delays. The predictor based state and output feedback stabilization results are then extended to a broader class of nonlinear retarded systems with input/output delays, which may not be GES but satisfy global asymptotic stabilizability/observability and suitable ISS conditions. As an application, a pendulum system with delays in the state, input and output is used to illustrate the effectiveness of the proposed state and output feedback control strategies based on sequential predictors. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_12439 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Compensation of Input/Output Delays for Retarded Systems by Sequential Predictors: A Lyapunov-Halanay Method Yu, Xin Lin, Wei Systems and Control This paper presents a Lyapunov-Halanay method to study global asymptotic stabilization (GAS) of nonlinear retarded systems subject to large constant delays in input/output - a challenging problem due to their inherent destabilizing effects. Under the conditions of global Lipschitz continuity (GLC) and global exponential stabilizability (GES) of the retarded system without input delay, a state feedback controller is designed based on sequential predictors to make the closed-loop retarded system GAS. Moreover, if the retarded system with no output delay permits a global exponential observer, a dynamic output compensator is also constructed based on sequential predictors, achieving GAS of the corresponding closed-loop retarded system with input/output delays. The predictor based state and output feedback stabilization results are then extended to a broader class of nonlinear retarded systems with input/output delays, which may not be GES but satisfy global asymptotic stabilizability/observability and suitable ISS conditions. As an application, a pendulum system with delays in the state, input and output is used to illustrate the effectiveness of the proposed state and output feedback control strategies based on sequential predictors. |
| title | Compensation of Input/Output Delays for Retarded Systems by Sequential Predictors: A Lyapunov-Halanay Method |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2603.12439 |