Controller design based on sum-of-squares for time-varying delay systems

This paper proposes a controller design based on sum-of-squares (SOS) method for time-varying delay systems. The SOS condition for controller design and the proof based on the Lyapunov-Krasovskii stability theorem are shown. The performance of the controller is fine-tuned taking into account input-output property. The controller is solved by decomposing a SOS condition, which is given by convex form. Experimental results on a real plant are also described to evaluate the performance of the proposed method.