Numerical Schemes for Nonlinear Predictor Feedback
  Implementation is a common problem with feedback laws with distributed delays. This paper focuses on a specific aspect of the implementation problem for predictor-based feedback laws: the problem of the approximation of the predictor mapping. It is shown that the numerical approximation of the predictor mapping by means of a numerical scheme in conjunction with a hybrid feedback law that uses sampled measurements, can be used for the global stabilization of all forward complete nonlinear systems that are globally asymptotically stabilizable and locally exponentially stabilizable in the delay-free case. Special results are provided for the linear time invariant case. Explicit formulae are provided for the estimation of the parameters of the resulting hybrid control scheme. 
Iasson Karafyllis and Miroslav Krstic
math.OC cs.SY