Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011

H

Control for Nonlinear Systems with Interval

Non-Differentiable Time-Varying Delays
N. T. Thanh* and V. N. Phat**
*Department of Mathematics,
Hanoi University of Mining and Geology, Hanoi, Vietnam
e-Mail: trthanh1998@yahoo.com
**Institute of Mathematics, VAST,
18 Hoang Quoc Viet Road, Hanoi 10307, Vietnam
e-Mail: vnphat@math.ac.vn


Abstract
In this paper we develop a linear matrix inequality
(LMI) approach for studying H

control problem for

a class of nonlinear system with interval time-varying
delay. The time delay is assumed to be a continuous
function belonging to a given interval. By
constructing a set of improved Lyapunov-Krasovskii
functionals, a new delay-dependent sufficient
condition for the H

control with exponential

stability of the system is established in terms of LMIs.
An application to H

control of uncertain linear

systems with interval time-varying delay is also
given. Numerical examples are given to show the
effectiveness of the obtained results.

- Symbols
Symbol Meaning
(.) x The state function
(.) u The control function
(.) z The observation output
(.) The intial function
(.) e The uncertainty input
(.) h Time varying delay
| Exponential index

Optimal level index


1. Introduction
The H

control of time-delay systems is of practical

and theoretical interest since the time delay is often
encountered in many industrial and engineering
processes [1]. The expository monographs [2, 3, 4]
present a lucid account of the early development in
the H

control theory. A significant development in

the H

control theory has recently been the

introduction of state-space methods [5]. This has led
to a rather transparent solution to the standard
problem of H

control with the objective being to

find a feedback controller stabilizing a given system
that is subject to some normed suboptimal conditions
on perturbations/uncertainties.For the H

control
problem, appropriate methods for linear time-delay
systems usually make use of the Lyapunov functional
approach, whereby the H

conditions are obtained

via solving either matrix inequalities or algebraic
Riccati-type equations [6, 7]. More recently, a simple
and systematic procedure for constructing time-
varying Lyapunov functionals has been studied in [8,
9], but for H

filtering. In [10-13], a modification of

standard the LMI-type exponential stability conditions
for linear time-delay systems is proposed, allowing to
compute two bounds that characterize the
exponential nature of the solution in the case of
nominal as well as uncertain systems. Lyapunov
function method there was developed to H

control
of linear systems with interval time-varying delays,
where the assumption on the derivative of the delay
function is either strictly bounded or by one is
removed, but the time-delay function is still assumed
to be differentiable. Paper [14] first time studies H

control of linear systems with interval non-
differentiable delays, but without the delay in
observation and the condition obtained for asymptotic
stability. To the best of our knowledge, there has been
no investigation on the H

control of delayed
systems, where the time delay involved in state and
output is interval time-varying and non-diiferentiable .
In fact, this problem is difficult to solve; particularly,
when the time-varying delays are interval, non-
differentiable and the output is subjected to such time-
varying delay functions. The time delay is assumed to
be any continuous function belonging to a given
interval, which means that the lower and upper
bounds for the time-varying delay are available, but
the delay function is bounded but not necessary to be
differentiable. This allows the time-delay to be a fast
time-varying function and the lower bound is not
restricted to being zero. It is clear that the application
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of any memoryless feedback controller to such time-
delay systems would lead to closed-loop systems with
interval time-varying delays. The difficulties then
arise when one attempts to derive exponential
stabilizability conditions and to extract the controller's
parameters for these systems. Indeed, existing
Lyapunov-Krasovskii functionals and their associated
results in [8, 11, 13, 14] cannot be applied to solve the
problem posed in this paper as they would either fail
to cope with the non-diffierentiability aspects of the
delays, or lead to very complex matrix inequality
conditions and any technique such as matrix
computation or transformation of variables fails to
extract the parameters of the memoryless feedback
controllers. This has motivated our research.

In this paper, we develop the results of [11, 13,14] for
the problem of H

control for linear systems with

time-varying delay. Compared to the existing results,
our result has its own advantages. First, the time delay
is assumed to be any continuous function belonging to
a given interval, which means that the lower and
upper bounds for the time-varying delay are available,
but the delay function is bounded but not necessary to
be differentiable. This allows the time-delay to be a
fast time-varying function and the lower bound is not
restricted to being zero. Second, both problems of
exponential stabilization and H

control will be
treated simultaneously. For the former, the controller
is required to guarantee the global exponential
stability for the closed-loop system. As to the latter, a
prescribed performance in an H

sense is also
required to be achieved for all admissible
uncertainties. By constructing a set of augmented
Lyapunov Krasovskii functionals, a new delay-
dependent condition for the robust H

control is
established in terms of LMIs, that can be solved
numerically in an e_cient manner by using standard
computational algorithms [15]. The approach alows
us to apply to H

control of uncertain linear

systems with interval non-differentiable time-varying
delay.

The paper is organized as follows. Section 2 presents
definitions and some well-known technical
propositions needed for the proof of the main results.
H

controller design for exponential stability and an

application to uncertain systems with non-
differentiable time-varying delay are presented in
Section 3. The paper ends with conclusions and cited
references.

2. Preliminaries
Consider a nonlinear uncertain time-varying delay
system of the form
( ) ( ) ( ( )) ( )
( ) ,
( ) ( ) ( ( )) ( ) ,
( ) ( ), [ , 0],
x t Ax t Dx t h t Bu t
C t f
z t Ex t Gx t h t Fu t g
x t t t h
e

= + +

+ +

= + + +

= e

(2.1)
where ( )
n
x t R e is the state;
2
(.) ([0, ], ),
m
u L s R e 0, s > is the control;
2
(.) ([0, ], )
r
L R e e is the uncertain input;
( )
s
z t R e is the observation output. The initial
function
1
( ) ([ , 0], )
n
t C h R e with the norm
{ }
0
sup ( ) , ( ) ,
h t
t t
s s
= and the time delay
function ( ) h t satisfies
1 2
0 ( ) , 0. h h t h t s s s >
Let ( ) : ( ( ))
h
x t x t h t = , the nonlinear function
: ,
n n m r n
f R R R R R R
+

:
n n m s
g R R R R R
+
satisfy the following
growth conditions :
, , , 0, a b c d - > ( , , , , ),
h
t x x u e
( , , , , ) ,
h h
f t x x u a x b x c u d e e s + + +
and
1 1 1
, , 0, a b c - > ( , , ),
h
x x u
1 1 1
( , , , ) .
h h
g t x x u a x b x c u s + +

Definition 1. Given 0. | > The zero solution of
system (1.1), where ( ) 0, ( ) 0, u t t e = = is
| exponentially stable if there is a positive number
0 N > such that every solution of the system
satisfies: ( , ) , 0.
t
x t N e t
|


s >

Definition 2. Given 0, 0. | > > The H

control
problem for system (2.1) has a solution if there exists
a memoryless state feedback controller ( ) ( ) u t Yx t =
satisfying the following two requirements:
- The zero solution of the closed-loop system:
( ) [ ] ( ) ( ( ))
( , , , , 0),
( ) ( ), [ , 0],
h
x t A BY x t Dx t h t
f t x x u
x t t t h
= + +

= e

is exponentially stable;
- There is a number
0
0 c > such that
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2
0
2 2
0
0
( )
sup ,
( )
z t dt
c t dt

s
+
}
}

where the supermum is taken over all
1
([ , 0], )
n
C h R e and the non-zero uncertainty
2
( ) ([0, ], ).
r
t L R e e In this case we say that
the feedback control ( ) ( ) u t Yx t = exponentially
stabilizes the system.

Proposition 1. Let , P Q be matrices of appreciate
dimentions and Q is symmetric positive definite.
Then
1
(2 , ) ( , ) ( , ), .
T
Px y Qy y PQ P x x x

s

Proposition 2. (Shur complement lemma). Given
constants matrices , , , X Y Z where
1
0
T
X Z Y Z

+ < if and only if 0.

T
X Z
Z Y
(
<
(

Proposition 3. For any symmetric positive definite
matrix ,
n n
M M

e scalar 0 a > vector function
:[0, ]
n
a R e such that the integrations concerned
are well defined, the following inequality holds
0 0 0
( ) ( ) ( ) ( ) .
T
a a a
T
s ds M s ds a s M s ds e e e e
| | | | | |
s
| | |
\ . \ . \ .
} } }


3. Main results

In this section for simplicity of expresstion, we
assume that [ , ] 0, .
T T
F E G F F I = =
Let us denote
-
1 1 1
1 1
, , P P Q P QP

= =
-
1 1 1 1
1 1
, , R P RP U P UP

= =
-
2
12
,
d
a b c c

= + + +
-
1 min 1
( ), P o =
-
1 2 2
2 max 1 max 1 1 max 2 max 1
2
2 1 max 1
( ) ( ) ( ) ( )
( ) ( ),
P Q h R h R
h h U
o |

= + + +
+

-
1 2
1
11
2 2
6 4 2
2 2 2
4
24
2 2 ,
T T
h h T
c c
T PA A P BB Q
P e R e R CC I
| |
| c

+
= + + +
+ + +

-
12
2 0.5
T T
T DP PA BB = + ,
-
1
2
13
0.5 ,
h T T
T e R PA BB
|
= +
-
2
2
14
0.5 ,
h T T
T e R PA BB
|
= +
-
15
0.5 ,
T T
T P PA BB = +
-
2
2
22
12
2 ,
h T T
T e U DP PD I CC
|
c

= + + + +

-
2
2
23
,
h T
T e U PD
|
= +
-
2
2
24
,
h T
T e U PD
|
= +
-
25
,
T
T P PD = +
-
1 1 2
2 2 2
33
12
,
h h h T
T e Q e R e U I CC
| | |
c

= + +

-
2 2 2
2 2 2
44
12
,
h h h T
T e Q e R e U I CC
| | |
c

= + +

-
2 2 2
55 1 2 2 1
( )
12
2 .
T
T h R h R h h U
P I CC c

= + +
+ +

-
max
( ),
T
K
K K =
max
( ),
a
T
L a a
L L =
-
max
( ),
b
T
L b b
L L =
max
( ),
c
T
L c c
L L =
-
max
( ),
d
T
L d d
L L =
max
( ),
e
T
L e e
L L =
-
max
( ),
g
T
L g g
L L =
max
( ).
f
T
L f f
L L =

Theorem 1.
The H

control of system (2.1) has a solution if

there exist symmetric positive definite matrices
, , , P Q R U such that the following LMI holds

11 12 13 14 15
22 23 24 25
33
44
55
*
* * 0
* * *
* * * *
* * * * *
* * * * *
* * * * *
* * * * *
T T T T T
T T T T
T P
T P
T

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1
1
0 0
0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0
0.
3
* 0 0
3
* * 0
6 4
* * *
6 4
T
T
PE P
PG P
I
I
I
a a
I
b b
(
(
(
(
(
(
(
(
(

< (
(
(

(
(
(

+ (
(
(

( +

(3.1)
Moreover, stabilizing feedback control is
1
( ) 0.5 ( ),
T
u t B P x t

=
and the solution of the systems satisfies
1
2
( ) , 0.
t
x t e t
|
o

o

s >
Proof.
Consider the following Lyapunov-Krasovskii
functional for the closed loop system:
6
1
( , ) ( , ),
t i t
i
V t x V t x
=
=

where
1 1
( ) ( ),
T
V x t Px t =
1
2 ( )
2 1
( ) ( ) ,
t
s t T
t h
V e x s Q x s ds
|

=
}

2
2 ( )
3 1
( ) ( ) ,
t
s t T
t h
V e x s Q x s ds
|

=
}

1
0
2 ( )
4 1 1
( ) ( ) ,
t
t T
h t s
V h e x R x d ds
| t
t t t

+
=
} }

2
0
2 ( )
5 2 1
( ) ( ) ,
t
t T
h t s
V h e x R x d ds
| t
t t t

+
=
} }

1
2
2 ( )
6 2 1 1
( ) ( ) ( ) .
h t
t T
h t s
V h h e x U x d ds
| t
t t t

+
=
} }


It is easy to verify that
2
1
( ) ( , ), 0,
t
x t V t x t o s >
and
2
0 2
(0, ) . V x o s (3.2)
Taking the derivative of
i
V , 1, 2, 3, i = in t along
the solution of the system (2.1), we obtain
1 1 1 1 1
1 1
2 ( ) ( ) 2 ( ) ( ) ( ) ( )
2 ( ) ( ) 2 ( ) .
T T h T T
T T
V x t PAx t x t PADx t x t PB Px t
x t PC t x t P f e
= +
+ +

1
2
2 1 1 1 1 2
( ) 2 ( ) ( ) ( ) 2 .
h T T
V x t Q x t e x t h Qx t h V
|
|

=
2
2
3 1 2 1 2 3
( ) ( ) ( ) ( ) 2 .
h T T
V x t Qx t e x t h Qx t h V
|
|

=
Applying Proposition 3 and the Newton-Leibniz
formula
( ) ( ) ( ), 1, 2,
i
t
i
t h
x s ds x t x t h i

= =
}

we have
1
2
4 1 1 4
2
1 1 1
( ) ( ) 2
[ ( ) ( )] [ ( ) ( )].
T
h T
V h x t R x t V
e x t x t h R x t x t h
|
|

s


2
2
5 2 1 5
2
2 1 2
( ) ( ) 2
[ ( ) ( )] [ ( ) ( )].
T
h T
V h x t R x t V
e x t x t h R x t x t h
|
|

s

2
2
2
6 2 1 1 6
2
2 1 2
2
1 1 1
( ) ( ) ( ) 2
[ ( ) ( )] [ ( ) ( )]
[ ( ) ( )] [ ( ) ( )].
T
h h T h
h h T h
V h h x t U x t V
e x t h x t R x t h x t
e x t h x t R x t h x t
|
|
|

s



From the following identity relation
1 1 1 1
2 1 1
2 ( ) 2 ( ) 2 ( )
2 ( ) 2 ( )
( ) ( ) ( )
0
( ) ( )
T h T T
T T
h
x t P x t P x t h P
x t h P x t P
x t Ax t Dx t
Bu t C t f e
( + +

(
+ +
(

(
=
(



and the following inequalities
2
2 2 2 2
1 1
2 ,
12
T h
x P f a x b x c u Px

e c s + + + +

2
2 2 2 2
1 1
2 ,
12
T h
x P f a x b x c u Px

e c s + + + +

2 2
2 2 2
1 1
2 ,
12
hT h h
x P f a x b x c u Px

e c s + + + +

2
2 2 2 2
1 1 1 1
2 ( ) ( ) ,
12
T h
x t h P f a x b x c u Px t h

e c s + + + +
2
2 2 2 2
2 1 1 2
2 ( ) ( ) ,
12
T h
x t h P f a x b x c u Px t h

e c s + + + +
2
2 2 2 2
1 1
2 ( ) ( ) ,
12
T h
x t P f a x b x c u Px t

e c s + + + +

2
1 1 1
12
2 ( ) ( ) ( ),
12
T T T
x t PC x t PCC Px t

e e

s +
2
1 1 1
12
2 ( ) ( ) ( ),
12
h T h T T h
x t PC x t PCC Px t

e e

s +
2
1 1 1 1 1 1
12
2 ( ) ( ) ( ),
12
T T T
x t h PC x t h PCC Px t h

e e

s +
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2
2 1 2 1 1 2
12
2 ( ) ( ) ( ),
12
T T T
x t h PC x t h PCC Px t h

e e

s +

2
1 1 1
12
2 ( ) ( ) ( ),
12
T T T
x t PC x t PCC Px t

e e

s +
setting
1
( ) ( ), y t Px t = we have
2
2 1
1
2
1
2 ( ) ( )
4 2
( ) 3 4 ( )
4
( ) 3 4 ( ),
T
T T T
h T T h
V V t M t
c
y t PE EP a P BB y t
y t PG GP b P y t
| e , , + s +
+ (
+ +
(

( + +

(3.3)
where
1 2
( ) ( ) ( ) ( ) ( ) ( ) ,
T T h T T T T
t y t y t y t h y t h y t , ( =



11 12 13 14 15
22 23 24 25
33
44
55
*
* * 0 ,
* * *
* * * *
M M M M M
M M M M
M M P
M P
M
(
(
(
( =
(

(
(



-
1 2
1
11
2 2
2
1
6 4 2
2 2 2
4
24
2 2
[6 4 ] 3 ,
T T
h h T
T
c c
M PA A P BB Q
P e R e R CC I
a a P PE EP
| |
| c

+
= + + +
+ + +
+ + +

-
12
2 0.5
T T
M DP PA BB = + ,
-
1
2
13
0.5 ,
h T T
M e R PA BB
|
= +
-
2
2
14
0.5 ,
h T T
M e R PA BB
|
= +
-
15
0.5 ,
T T
M P PA BB = +
-

-
2
2
22
2
12
3 ,
h T
T T
M e U DP PD I
PG GP CC
|
c

= + + +
+ +

-
2
2
23
,
h T
M e U PD
|
= +
-
2
2
24
,
h T
M e U PD
|
= +
-
25
,
T
M P PD = +
-
1 1 2
2 2 2
33
12
,
h h h T
M e Q e R e U I CC
| | |
c

= + +

-
2 2 2
2 2 2
44
12
,
h h h T
M e Q e R e U I CC
| | |
c

= + +

-
2 2 2
55 1 2 2 1
( )
12
2 .
T
M h R h R h h U
P I CC c

= + +
+ +

Using the Schur complement lemma, the condition
(3.1) is equivalent to the condition 0 M < and from
the inequality ( 3.3), it follows that
2 1
1
2
2
1
4 2
2 ( ) 3 4 ( )
4
( ) 3 4 ( ) .
T T T
h T T h
c
V V y t PE EP a P BB y t
y t PG GP b P y t
|
e
+ (
+ s + +
(

( + + +

(3.4)
Letting ( ) 0 t e = , we finally obtain from (3.4) that
( , ) 2 ( , ) 0, 0.
t t
V t x V t x t | + s > (3.5)
Differentiating inequality (2.5) from t to 0, we have
2
0
( , ) (0, ) , 0.
t
t
V t x V x e t
|
s >
Taking the condition (3.2) into account, we finally
obtain that
1
2
( ) , 0,
t
x t e t
|
o

o

s >
which implies that the zero solution of the closed-loop
system is | exponentially stable. To complete the
proof of the theorem, it remain to show the optimal
level condition. For this, we consider the following
relaition
2 2 2 2
0 0 0
2 2
0
0
( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) (0, ).
s s s
s
z t t dt z t t V t dt V t dt
z t t V t dt V x
e e
e
= +
s + +
} } }
}
(3.6)
Conbining the condition (3.2) and the inequality
( , ) ( ) ( ),
T
t
V t x y t Py t >
we obtain from (2.4) that
2 1
1
2
2
1
4 2
( ) 3 4 ( )
4
( ) 3 4 ( ) 2 ( ) ( ).
T T T
h T T h T
c
V y t PE EP a P BB y t
y t PG GP b P y t y t Py t e |
+ (
s + +
(

( + + +

(3.7)
Observe that the value of
2
( ) z t
2
2 1
1
2
1
4 2
( ) ( ) 3 4 ( )
4
( ) 3 4 ( ).
T T T
h T T h
c
z t y t PE EP a P BB y t
y t PG GP b P y t
+ (
s + +
(

( + +

(3.8)
Submitting the estimation of V and
2
( ) z t defined
by (3.7) and (3.8), respectively into (3.6), we obtain
2 2
0
0 0
2
0 2
( ) ( ) 2 ( ) ( ) (0, )
(0, ) .
s s
T
z t t dt y t Py t dt V x
V x
e |
o
s +
s s
} }

Letting s , and setting
2
0
0, c
o

= > we have
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2
0
2 2
0
0
( )
sup ,
( )
z t dt
c t dt

s
+
}
}

for all non-zero
2
( ) ([0, ], ),
r
t L R e e
1
([ , 0], )
n
C h R e . This completes the proof of
the theorem.

In the sequel, we give an application to H

control
of uncertain systems with interval time-varying
delay. Consider the following uncertain linear systems
with time-varying delay:
( ) [ ] ( ) [ ] ( ( )) [ ] ( )
[ ] ( ),
( ) [ ] ( ) [ ] ( ( )) [ ] ( ),
( ) ( ), [ , 0],
x t A A x t D D x t h t B B u t
C C t
z t E E x t G G x t h t F F u t
x t t t h
e

= + A + + A + + A

+ + A

= + A + + A + + A

= e

(3.9)
where the time varying uncertainties , A A , D A
, B A , C A , E A , G A F A satisfy
[ ] ( )[ ],
a d b c e g g
A D B C E G F KH t L L L L L L L A A A A A A A =

where , , , , , , ,
a d b c e g g
K L L L L L L L are known real
constant matrices of appreciate dimentions and
( ) H t is an unknown matrix function with Lebesgue
measurable elements satifying
( ) ( ) , 0.
T
H t H t I t s > (3.10)
To apply Theorem 1, let us denote
( ) ( ) ( ) ( ),
h
f Ax t Dx t Bu t C t e = A +A +A +A
( ) ( ) ( ),
h
g Ex t Gx t Fu t = A +A +A
max
( ),
T
K
K K =
max
( ),
a
T
L a a
L L =
max
( ),
b
T
L b b
L L =
max
( ),
c
T
L c c
L L =
max
( ),
d
T
L d d
L L =
max
( ),
e
T
L e e
L L =
max
( ),
g
T
L g g
L L =
max
( ).
f
T
L f f
L L =
Observe that
2
2 2 2
2
2 2
( ) 3 ( ) 3 ( ) 3 ( )
3 ( ) 3 ( ) 3 ( ) ,
e g f
h
h
K L K L K L
g t Ex t Gx t Fu t
x t x t u t
s A + A + A
s + +

( ) ( ) ( ) ( ) ( )
( ) ( )
( ) ( ) .
a d
b e
h
h
K L K L
K L K L
f t Ax t Dx t Bu t C t
x t x t
u t t
e

e
s A + A + A + A
s +
+ +

Applying Theorem 1 with
1
3 ,
e
K L
a =
1
3 ,
g
K L
b =
1
3 ,
f
K L
c =
,
a
K L
a = ,
d
K L
b =
,
b
K L
c = ,
e
K L
d =
we have

Corrolary 1.
The H

control of system (3.9) has a solution if there

exist symmatrix positive definite mtrices
, , , P Q R U such that the following LMI holds
11 12 13 14 15
22 23 24 25
33
44
55
*
* * 0
* * *
* * * *
* * * * *
* * * * *
* * * * *
* * * * *
T T T T T
T T T T
T P
T P
T

1
1
0 0
0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0
0.
3
* 0 0
3
* * 0
6 4
* * *
6 4
T
T
PE P
PG P
I
I
I
a a
I
b b
(
(
(
(
(
(
(
(
(

< (
(
(

(
(
(

+ (
(
(

( +


Moreover, stabilizing feedback control is
1
( ) 0.5 ( ),
T
u t B P x t

=
and the solution of the systems satisfies
1
2
( ) , 0.
t
x t e t
|
o

o

s >

In the sequel, we illustrate the effectiness of the
proposed method which yields a computationally
solution to the H

control in the contex of LMIs.

Example 1.
Consider the following nonlinear system with interval
time varying delay (2.1), where
498
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011

( )
1
3
( ) 0.1 0.1sin ( ) [2 , 2 1 ],
( ) 0.1 ,
k N
h t t if t H k k
h t if t H
t t
e

= + e = +

= e

1.3 0.2
,
0.1 1.4
A
(
=
(

0.3 0.2
,
0.1 0.5
D
(
=
(

0.01
,
0.01
B
(
=
(


0.03 0.01
,
0.01 0.01
C
(
=
(

0.006 0.006
,
0.008 0.008
E G
(
= =
(

0.8
,
0.6
F
(
=
(



and
1 1 1
0.01. a b c d a b c = = = = = = = It is worth
nothing that, the delay function ( ) h t is
nondifferenible and the result obtained in [8, 11,
13,14] are not be applicable to this system. By using
LMI Toolbox in MATLAB [15], the LMI (3.1) is
feasible with
1
0.1, h =
2
0.2, h = 0.1, | = 0.4, =
and
1.5623 0.9473
,
0.9473 2.3635
P
(
=
(

1.0837 0.8515
,
0.8515 1.6742
Q
(
=
(

313.2418 0
,
0 313.2418
R
(
=
(


313.2418 0
.
0 313.2418
U
(
=
(


Moreover, the solution ( , ) x t of the system satisfies
( , ) 5.5147 . x t s

4. Conclusion
In this paper, the problem of the exponential stability
and H

control for nonlinear systems with time

varying delays and polytopic uncertainties has been
studied. By introducing improved parameter
dependent Lyapunov-Krasovskii functionals, new
delay-dependent conditions for the H

and
exponential stability bave been established in terms of
linear matrix inequalities. A numerical example is
given showing the effeciveness of proposed results.

Acknowledgments.
This work was suppoeted by the National Foundation
for Sience and Technology Development, Vietnam.

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