This note deals with control design for Lipschitz nonlinear systems with time-varying input delay. Based on a truncated prediction of the system state over the delay period, both a state and an output feedback control law are constructed. Within the framework of Lyapunov-Krasovskii functionals, a set of conditions are identified under which the closed-loop system under either the state feedback or the output feedback law is globally asymptotically stable at the origin. A numerical example is included to demonstrate the effectiveness of the proposed designs.
- Lipschitz nonlinearity, Time-varying delay, Truncated prediction