Stability independent of delay using rational functions

This paper is concerned with the problem of assessing the stability of linear systems with a single timedelay. Stability analysis of linear systems with time-delays is complicated by the need to locate the roots of a transcendental characteristic equation. In this paper we show that a linear system with a single time-delay is stable independent of delay if and only if a certain rational function parameterized by an integer k and a positive real number T has only stable roots for any finite T ≥ 0 and any k ≥ 2. We then show how this stability result can be further simplified by analyzing the roots of an associated polynomial parameterized by a real number δ in the open interval (0, 1). The paper is closed by showing counterexamples where stability of the roots of the rational function when k = 1 is not sufficient for stability of the associated linear systemwith time-delay. We also introduce a variation of an existing frequency-sweeping necessary and sufficient condition for stability independent of delay which resembles the form of a generalized Nyquist criterion. The results are illustrated by numerical examples. © 2009 Elsevier Ltd. All rights reserved.