Using delays and time-varying gains to improve the static output feedback stabilizability of linear systems: a comparison

We address the output feedback stabilization problem of linearfinite-dimensional SISO systems. Limitations of static time-invariantoutput feedback on stabilizability are well known. We investigateand compare the possibilities of two recently proposed simplemodifications/generalizations of static time-invariant outputfeedback to remove such limitations. The first approach consistsof introducing a time-delay in the control law, which can betreated as an additional control parameter. The second approachconsists of making the gain time-varying. We show that bothapproaches are complementary. Existing theoretical results arebrought together in a unifying framework. Numerical proceduresfor the construction of the controllers are provided. Robustnessw.r.t. both parametric and delay uncertainty are dealt with.As an illustration the stabilizability of all second-order systemsis completely determined.