Predictor-based observer and controller for nonlinear systems with input/output delays

This letter addresses the problem of asymptotic stabilization by output feedback for nonlinear systems with delays in the input and output. Under stabilizability and detectability of the linearized time -delay system, we show that asymptotic stabilization is solvable by predictor -based nonlinear observer and dynamic output compensator. The proof is based on the linearization method, the design of local nonlinear observers and observer -based controllers, as well as the Razumikhin theorem.