Multilayer State Predictors for Nonlinear Systems with Time-Varying Measurement Delays
In this paper, we propose state predictors for stable genuinely nonlinear systems
with time-varying measurement delay, with no restriction on its bound or serious limitations on the
growth of the nonlinearities. The measurement delay is assumed to be continuous. A state prediction
is generated by chains of nonlinear dynamic observers operating at different layers. On each layer,
these observers reconstruct the unmeasurable state vector at different delayed time-instants, which