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Time delays pose an important challenge in networked control systems, whichare now ubiquitous. Focusing on switched systems, we introduce a framework thatprovides an upper bound for errors caused by switching delays. Our framework isbased on approximate bisimulation, a notion that has been previously utilizedmainly for symbolic (discrete) abstraction of state spaces. Notable in ourframework is that, in deriving an approximate bisimulation and thus an errorbound, we use a simple incremental stability assumption (namely {\delta}-GUAS)that does not itself refer to time delays. That this is the same assumptionused for state-space discretization enables a two-step workflow for controlsynthesis for switched systems, in which a single Lyapunov-type stabilitywitness serves for two different purposes of state discretization and copingwith time delays. We demonstrate the proposed framework with a boost DC-DCconverter, a common example of switched systems.

Bounding Errors Due to Switching Delays in Incrementally Stable Switched Systems (Extended Version)