This paper addresses the problem of the global state feedback stabilization for a class of lower-triangular nonlinear systems whose states and input are perturbed by time-delay simultaneously. Quite different from upper-triangular systems, the presence of delayed input leads to the serious dependency of the stabilizer upon the size of the delays and the failed compensation of delayed states in such situation. The remarkable feature of the proposed method lies in the fact that it makes possible to achieve the stabilizing controller with the help of a simple inductive design and an integral Lyapunov function. Finally, theoretical results are illustrated and supported by the simulation.

本文针对一类下三角非线性系统的全局状态反馈镇定问题，该系统的状态和输入同时受到时滞的干扰。与上三角系统完全不同，延迟输入的存在导致稳定器严重依赖于延迟的大小以及在这种情况下延迟状态的补偿失败。该方法的显着特点是可以通过简单的归纳设计和完整的Lyapunov函数来实现稳定控制器。最后，对理论结果进行了说明并得到了仿真的支持。