Stability Analysis and Data-Driven State Estimation for Generalized Persidskii Systems with Time Delays: Theory and Experimental Validation on PMSM Drives

Abstract

This paper addresses the stability analysis and state estimation of generalized Persidskii systems subject to time-varying delays and external disturbances. The generalized Persidskii class, which couples linear dynamics with sector-bounded nonlinear feedback loops, offers a tractable yet expressive framework for modeling electromechanical and neural network systems. We develop delay-dependent conditions for input-to-state stability (ISS) via Lyapunov--Krasovskii functionals incorporating Persidskii-type integral terms, and cast these conditions as linear matrix inequalities (LMIs). A structured robust observer is proposed for systems with partial state measurement, and its convergence is guaranteed through an $H_\infty$ synchronization criterion. To handle plant uncertainty, the system matrices are identified from trajectory data using a stability-preserving Koopman lifting procedure, in which the ISS-LMI constraint is embedded as a convex side condition during parameter regression. The identified model populates the prediction horizon of an ICODE-MPPI (Input-dependent Control-oriented Dynamical Estimation -- Model Predictive Path Integral) controller. The complete framework is validated on a 1.5 kW Permanent Magnet Synchronous Motor (PMSM) drive equipped with a programmable load brake. Experimental results confirm a 35\% reduction in velocity estimation RMSE relative to an Extended Kalman Filter and a 67\% improvement in speed-tracking accuracy relative to standard Field-Oriented Control, corroborating the theoretical ISS bounds established herein.