In this paper, constructive control techniques have been proposed for controlling strict feedback (lower triangular form) nonlinear systems with a time delay in the state. The uncertain nonlinearities are assumed to be bounded by functions of the output multiplied by unmeasured states or delayed states. Based on the using of a linear dynamic high gain observer in combination with a linear dynamic high gain controller, the delay-independent output feedback controller making the closed-loop system globally asymptotically stable (GAS) is explicitly constructed. A simulation example is given to demonstrate the effectiveness of the proposed design procedure.
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