Sampled-Data Stabilization of Nonlinear Dynamics With Input Delays Through Immersion and Invariance

Abstract

In this technical note, we show that Immersion and Invariance is a natural framework for the design of sampled-data stabilizing controllers for input-delayed systems. Assuming the existence of a continuous-time feedback in the delay free case, Immersion and Invariance stabilizability of the equivalent sampled-data dynamics is proven. The proof is constructive for the stabilizing controller. Two simulated examples illustrate the performances.