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1、Systems&Control:Foundations&ApplicationsSeriesEditorTamerBaşar,UniversityofIllinoisatUrbana-ChampaignEditorialBoardKarlJohanÅström,LundUniversityofTechnology,Lund,SwedenHan-FuChen,AcademiaSinica,BeijingWilliamHelton,UniversityofCalifornia,SanDiegoAlbertoIsidori,UniversityofRom
2、e(Italy)andWashingtonUniversity,St.LouisPetarV.Kokotović,UniversityofCalifornia,SantaBarbaraAlexanderKurzhanski,RussianAcademyofSciences,MoscowandUniversityofCalifornia,BerkeleyH.VincentPoor,PrincetonUniversityMeteSoner,KoçUniversity,IstanbulMiroslavKrsticDelayCompensationforN
3、onlinear,Adaptive,andPDESystemsBirkhauser¨Boston•Basel•BerlinMiroslavKrsticDepartmentofMechanicalandAerospaceEngineeringUniversityofCalifornia,SanDiegoLaJolla,CA92093-0411krstic@ucsd.eduISBN978-0-8176-4876-3e-ISBN978-0-81764877-0DOI10.1007/978-0-8176-4877-0LibraryofCongressCon
4、trolNumber:2009933091MathematicsSubjectClassification(2000):34H05,34Kxx,34K35,35B37,49J25,70Q05,93–XX,93C10,93C20,93C23,93C40,93D05©BirkhäuserBoston,apartofSpringerScience+BusinessMedia,LLC2009Allrightsreserved.Thisworkmaynotbetranslatedorcopiedinwholeorinpartwithoutthewrittenp
5、ermissionofthepublisher(BirkhäuserBoston,c/oSpringerScience+BusinessMedia,LLC,233SpringStreet,NewYork,NY10013,USA),exceptforbriefexcerptsinconnectionwithreviewsorscholarlyanalysis.Useinconnectionwithanyformofinformationstorageandretrieval,electronicadaptation,computersoftware,
6、orbysimilarordissimilarmethodologynowknownorhereafterdevelopedisforbidden.Theuseinthispublicationoftradenames,trademarks,servicemarks,andsimilarterms,eveniftheyarenotidentifiedassuch,isnottobetakenasanexpressionofopinionastowhetherornottheyaresubjecttoproprietaryrights.CoverDe
7、signbyMaryBurgessPrintedonacid-freepaperBirkhäuserBostonispartofSpringerScience+BusinessMedia(www.birkhauser.com)PrefaceThisyearisthe50thanniversaryofOttoJ.Smiths1959publicationofacontroldesignideacommonlyreferredastheSmithpredictorforthecompensationofactuatordelays.Actuatoran
8、dsensordelaysareamongthemostcommondynamicphenomenathatarisein
