Stability analysis for time delay control of nonlinear systems in discrete-time domain with a standard discretisation method

This paper provides stability analysis results for discretised time delay control (TDC) as implemented in a sampled data system with the standard form of zero-order hold. We first substantiate stability issues in discrete-time TDC using an example and propose sufficient stability criteria in the sense of Lyapunov. Important parameters significantly affecting the overall system stability are the sampling period, the desired trajectory and the selection of the reference model dynamics.