Robust ℒ₂ disturbance attenuation for a class of uncertain Lipschitz nonlinear systems with input delay

In this paper, we study a robust L₂ disturbance attenuation problem that arises when applying the Artstein–Kwon–Pearson reduction transformation for a class of uncertain Lipschitz nonlinear systems with input delay and external disturbances. A conventional predictor-based feedback controller is adopted with the control gain matrix carefully identified by solving a couple of sufficient conditions in terms of linear matrix inequalities. Lyapunov–Krasovskii functionals are constructed to guarantee that the robust L₂ disturbance attenuation problem can be solved by the proposed controller. A numerical example is included to validate the performance of the proposed controller.