Dominant‐pole placement for predictor synthesis

This article analyzes the high‐gain prediction approach for nonlinear input‐delay systems. The problem is discussed in the light of weighted homogeneity and input‐to‐state stability. The canonical form for uniformly observable nonlinear systems allows tuning the linear‐part spectrum by multiplicity‐induced dominancy and ensuring closed‐loop system input‐to‐state stability using the descriptor method of the Lyapunov–Krasovskii approach. Due to the trade‐off between delay and gain margin, the limitation of high gain that results for time‐delay systems is overcome using a cascade of subpredictors. A comparative analysis shows that our proposal achieves a better trade‐off between delay and gain margin, resulting in a reduced number of subpredictors.