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 (LMIs). 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.