(Hindawi Publishing Corporation, 2002) Alastruey Merino, Karlos; Sen, Manuel de la; Automática y Computación; Automatika eta Konputazioa
In this paper, a Lyapunov function candidate is introduced for multivariable systems with inner delays, without assuming a priori stability for the nondelayed subsystem. By using this Lyapunov function, a controller is deduced. Such a controller utilizes an input-output description of the original system, a circumstance that facilitates practical applications of the proposed approach.