Abstract

This paper considers the composite nonlinear feedback (CNF) method for robust tracking control of uncertain linear systems with time-varying delays and disturbances. The asymptotic tracking conditions are dependent to the time-derivative bounds of the time-varying delays and are provided in the form of linear matrix inequalities (LMIs). A new nonlinear function is introduced in the control law to improve the tracking performance of the system and is optimally tuned using modified random search (MRS) algorithm. Simulation results are presented to illustrate the effectiveness of the proposed technique.