Rodríguez-Guerrero, L., Mondié, S., & Santos-Sánchez, O. (2015). Guaranteed cost control using Lyapunov redesign for uncertain linear time delay systems. IFAC-PapersOnLine, 48(12), 392-397.
In this contribution, we combine the complete type functional approach with the guaranteed cost control strategy to design an optimal controller that stabilizes the system in closed loop and ensures an upper bound of the cost function. Then with the Lyapunov redesign technique, an additional control component is synthesized to robustify the design to a class of uncertainties that satisfy the matching condition.