Discretization of a non-linear, continuous-time control law with small control delays a theoretical treatment

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 ∞ are assumed to be present. Provided the sampling time ∞ is small and the maximum ratio ∞ is known, then the main theorem provides 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.