Discretization of A Non-Linear, Continuous-Time Control Law with Small Control Delays

This paper considers time-discretized, non-linear, continuous-time control laws with small computational time-delays. The discretized control is not initiated immediately after the sampling instant ti. Small variable computational delays I are assumed to be present. Provided the sampling time is small and the maximum ratio is known, then the main theorem pro- vides a stability result. In contrast to a former result, the theoretical framework considers robust control problems allowing a class of uncertainty and disturbances to be investigated. The different techniques are compared numerically for a discretized continuous-time sliding-mode based state-feedback control.