Ricerc@Sapienza

In this paper, we propose sampled-data output feedback controllers for nonlinear
systems with time-varying measurement and input delays. A state prediction is generated by
chains of saturated high-gain observers with switching error-correction terms and the state
prediction is used to stabilize the system with saturated controls. The observers reconstruct the
unmeasurable states at dierent delayed time-instants, which partition the maximal variation
interval of the time-varying delays. The density of these delayed time instant depend both on the
magnitude of the delays and the growth rate of the nonlinearities. Our sampled-data feedback
controllers are obtained as zero-order discretizations of continuous time controllers.