Truncated state prediction for control of Lipschitz nonlinear systems with input delay

This paper deals with control design for Lipschitz nonlinear systems with input delay. A prediction of the system state over the delay period is approximated by the finite dimensional term of the classical state predictor, with the distributed term dropped. This truncated predictor is then used for the state feedback control. A set of conditions for the stability of the closed-loop system are identified based on the analysis in the framework of Lyapunov-Krasovskii functionals. These conditions are presented in the form of matrix inequalities, and generalize the results for the truncated predictor feedback for linear systems to nonlinear systems. The conditions can be checked using LMIs with a set of iterative scalar parameters, in a way similar to the linear systems counterpart.