# Time-Varying Input and State Delay Compensation for Uncertain Nonlinear Systems

arXiv: https://arxiv.org/abs/1501.03810 · HTML: https://mlsanity.com/paper/1501.03810/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 15 Jan 2015.

## Built on by (most cited first, 1 of 1)

- [Recurrent Stochastic Configuration Networks for Temporal Data Analytics](https://mlsanity.com/paper/2406.16959/) (2024)

## Abstract (arXiv)

A robust controller is developed for uncertain, second-order nonlinear systems subject to simultaneous unknown, time-varying state delays and known, time-varying input delays in addition to additive, sufficiently smooth disturbances. An integral term composed of previous control values facilitates a delay-free open-loop error system and the development of the feedback control structure. A stability analysis based on Lyapunov-Krasovskii (LK) functionals guarantees uniformly ultimately bounded tracking under the assumption that the delays are bounded and slowly varying.