Lie-brackets-based averaging of affine systems via a time-delay approach

Jin Zhang*, Emilia Fridman

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


In this paper, we study input-to-state stability (ISS) of affine systems with a small parameter ɛ>0 and additive disturbances in the presence of state-delays. We present a time-delay approach to Lie-brackets-based averaging, where we transform the system to a time-delay (neutral type) one. The latter has a form of perturbed Lie brackets system. The ISS of the time-delay system guarantees the same for the original one. We present a direct Lyapunov–Krasovskii (L–K) method for the time-delay system and provide sufficient conditions for regional ISS. Further we apply the results to stabilization of linear uncertain systems under unknown control directions using the bounded extremum seeking controller with measurement delay. In contrast to the existing results that are all qualitative, we derive constructive linear matrix inequalities for finding quantitative upper bounds on ɛ and the time-delay that ensure regional ISS of the original system and on the resulting ultimate bound. Numerical examples illustrate the efficiency of our method.

Original languageEnglish
Article number110971
StatePublished - Jun 2023


  • Extremum seeking
  • Lie-brackets-based averaging
  • Lyapunov-Krasovskii method
  • Time-delay


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