A Robust Resilient Multi-Objective Delay-Dependent Tracker for Nonlinear Time-Delay Systems

In this paper, a multi-objective robust tracking problem for nonlinear time-invariant systems with known time delay in state vector and control input is discussed. An augmented integral error is included in the tracking performance index which eliminates the effect of deterministic constant disturbances in the tracking problem. Uncertainties are considered as a nonlinear additive term in the problem. The discretized complete Lyapunov–Krasovskii functional (LKF) is used to formulate the robust resilient tracker with general quadratic performance. This approach yields much less conservatism than the conventional simple LKF design methods, and still allows writing both LKF and LKF derivative conditions in the form of linear matrix inequalities. Two comparative examples are given to illustrate the effectiveness of the proposed design method.