Real-Time Control Systems with Delays

Acknowledgments I would like to take the opportunity to thank all friends and colleagues that have given me support and encouragement in my thesis work. Thank you! My work has been supervised by Bo Bernhardsson and Björn Witten-mark. During the work they have continuously provided me with enthusiasm , vision, and wisdom. They are outstanding researchers to have as role models for a PhD-student. During my time at the department and during the work with this thesis I have also been inspired by Karl Johan Åström, who is the most skilled engineer I have met. I would like to express my sincere gratitude to the group at the department working in the field of real-time systems. My own research has benefited from them. I would especially like to mention Karl-Erik Årzén, with whom I have spent a lot of time both at work and in leisure hours. I would like to thank the support staff at the department. Throughout the years they have been very helpful. Excellent computer facilities have been provided by Leif Andersson and Anders Blomdell. They have also served as excellent teachers for me in computer science. The secretariat of the department has always been run with perfectionism, especially I would like to mention Eva Schildt for doing a great job. Rolf Braun has always been very helpful with the laboratory work. The CAN experimental setup was borrowed from DAMEK Mechatron-ics Division at the Royal Institute of Technology. I would like to thank Martin Törngren and Ola Redell at DAMEK for helping me getting the CAN-platform running. Finally, I am indebted to my parents and family for always supporting and encouraging me.