Optimal control for sampled-data nonlinear systems with multiple time-delays in delta domain with application to a quarter-car suspension.

The paper deals with an optimal control for nonlinear systems with multiple time delays in delta domain. By constructing sequences for optimal control problem, we demonstrate the optimal control and the optimal state trajectories by proving the convergence of these sequences. The optimal control is achieved from deriving a Riccati equation and adjoint differential equations. The compensation term in the designed controller compensates the effect which is produced by nonlinearity, time delay, and disturbance. A quarter-car suspension model with actuator and measurement delays is adopted to illustrate the effectiveness of the proposed control. The advantage of controller in delta domain is obvious than that of the discrete-time domain. [ABSTRACT FROM AUTHOR]