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nonlinear control

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mary1390

Electrical
Aug 8, 2017
1
Good day.
I have a problem in Lyapunov theories.My system model is:
IMG_3623_acpzir.jpg

I have designed a controller for this system bit without "external disturbances". now I want to extend my job and analyse the system in the presence of external disturbances. I was wondering if I cloud use Lemma9.3 in khalil nonlinear book.(with putting some restriction on external disturbances and not changing the whole procedure of the design)
Untitled_nkwio2.jpg


because i'm not sure that this Lemma works in the presence of time delays.
could you please help me? If this method doesn't work,what is your suggestion?
 
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