...Khurram Butt; Nariman Sepehri A force-controlled pneumatic actuator with long connecting tubes is a well-accepted solution to develop magnetic resonance imaging (MRI)-compatible force control applications. Such an actuator represents an uncertain, second-order, nonlinear system with input delay...

... Control input Remark 4.1. It should be mentioned that the results in this paper is general than in Ref. [ 7 ], since this paper deals the time-varying input delays and actuator failures. But in the paper [ 7 ], the authors derived the results for constant input delays. Moreover, the results...