Stability of systems with uncertain delays: A new "complete" Lyapunov-Krasovskii functional

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Stability of linear systems with uncertain time-varying delay is considered in the case, where the nominal value of the delay is constant and nonzero. Recently a new construction of Lyapunov-Krasovskii functionals (LKFs) has been introduced: To a nominal LKF, which is appropriate to the system with nominal delays, terms are added that correspond to the perturbed system and that vanish when the delay perturbations approach 0. In the present note we combine a "complete" nominal LKF, the derivative of which along the trajectories depends on states and their derivatives, with the additional terms depending on the delay perturbation. The new method is applied to the case of multiple uncertain delays with one nonzero nominal value. Numerical examples illustrate the efficiency of the method.

Original languageEnglish
Pages (from-to)885-890
Number of pages6
JournalIEEE Transactions on Automatic Control
Issue number5
StatePublished - May 2006


  • Lyapunov-Krasovskii method
  • Stability
  • Time-varying delay
  • Uncertain delay


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