Optimization of digital control with delay by periodic variation of the gain parameters

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 37, Issue 12, 2004, Pages 145-150

  Insperger, Tamas ^a   Stepan, Gabor ^a  

^a BUDAPEST UNIVERSITY OF TECHNOLOGY AND ECONOMICS   (Hungary)

Author keywords

Dead beat control; Gain modulation; Optimal control; PD controllers; Sampling; Stability; Time delay

Indexed keywords

CONVERGENCE OF NUMERICAL METHODS; DIGITAL CONTROL SYSTEMS; SAMPLING; STABILITY; TIME DELAY;

DEADBEAT CONTROL; DESTABILIZING EFFECT; DIGITALLY CONTROLLED SYSTEMS; GAIN MODULATION; OPTIMAL CONTROLS; PD CONTROLLERS; STABILITY AND ROBUSTNESS; STABILITY PROPERTIES;

DELAY CONTROL SYSTEMS;

EID: 85008631723     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1016/S1474-6670(17)31458-1     Document Type: Conference Paper

References (25)

1. Asl, F. M., Ulsoy, A. G., 2002, Analysis of a system of linear delay differential equations, Journal of Dynamic Systems, Measurements and Control, 125(2), pp. 215-223.
2. Bayly, P. V., Halley, J. E., Mann, B. P., Davies, M. A., 2003, Stability of interrupted cutting by temporal finite element analysis, Journal of Manufacturing Science and Engineering, 125(2), pp. 220-225.
3. Butcher, E. A., Ma, H., Bueler, E., Averina, V., Szabo, Zs., 2004, Stability of time-periodic delay-differential equations via Chebyshev polynomials, International Journal for Numerical Methods in Engineering, 59(7), pp. 895-922.
4. Craig, J. J., 1986, Introduction to Robot Mechanics and Control, Addison-Willey, Reading.
5. Elbeyly, O., Sun, J. Q., 2004, on the semi-discretization method for feedback control design of linear systems with time delay, Journal of Sound and Vibration, 273(1-2), pp. 429-440.
6. Hale, J. K., Lunel, S. M. V., 1993, Introduction to Functional Differential Equations, Springer-Verlag, New York.
7. Insperger, T., Horvath, R., 2000, Pendulum with harmonic variation of the suspension point, Periodica Polytechnica, 44(1), pp. 39-46.
8. Insperger, T., Stepan, G., 2002a, Stability chart for the delayed Mathieu equation, Proceedings of the Royal Society, Mathematical, Physical and Engineering Sciences, 458(2024), pp. 1989-1998.
9. Insperger T., Stepan, G., 2002b, Semi-Discretization Method for Delayed Systems, International Journal for Numerical Methods in Engineering, 55(5), pp. 503-518.
10. Insperger, T., Stepan, G., 2004, Stability improvements of robot control by periodic variation of the gain parameters, in Proceedings of the 11th World Congress in Mechanism and Machine Science, Tianjin, China, China Machinery Press, pp. 1816-1820.
11. Just, W., Reibold, E., Benner, H., Kacperski, K., Fronczak, P., Holyst, J., 1999, Limits of time-delayed feedback control, Physics Letters A, 254, pp. 158-164.
12. Khargonekar, P., Poolla, K., Tannenbaum, A., 1985, Robust control of linear time invariant plants using periodic compensation, IEEE Transaction on Automatic Control, 30(11), pp. 1088-1095.
13. Klein, E. J., Ramirez, W. F., 2001, State con-trollability and optimal regulator control of time-delayed systems, International Journal of Control, 74(3), pp. 281-289.
14. Kollar, L. E., Stepan, G., Hogan, J. S., 2000, Sampling Delay and Backlash in Balancing Systems, Periodica Polytechnica, 44(1), pp. 77-84.
15. Kuo, B. C., 1977, Digital Control Systems, SRL Publishing Company, Champaign, Illinois.
16. Lakshmikantham, V., Trigiante, D., 1988, Theory of Difference Equations, Numerical Methods and Applications, Academic Press, London.
17. Munir, S., Book, W. J., 2002, Control techniques and programming issues for time delayed internet based teleoperation, Journal of Dynamic Systems, Measurements and Control, 125(2), pp. 205-214.
18. Olgac, N., Sipahi, R., 2002, An Exact Method for the Stability Analysis of Time-Delayed Linear Time-Invariant (LTI) Systems, IEEE Transactions on Automatic Control, 47(5), pp. 793-977.
19. Raibert, M. H., Craig, J. J., 1981, Hybrid position force control for computer controlled manipulators, ASME Journal of Dynamic Systems, Measurement and Control, 102, pp. 125-133.
20. Savkin, A. V., Petersen, I. R., 1998, Almost optimal LQ-control using stable periodic controllers, Automatica, 34(10), pp. 1251-1254.
21. Stepan, G., 1989, Retarded Dynamical Systems, Longman, Harlow.
22. Stepan, G., Steven A., Maunder, L., 1990, Design principles of digitally controlled robots, Mechanism and Machine Theory, 25, pp. 515-527.
23. Stepan, G., Haller, G., 1995, Quasiperiodic oscillations in robot dynamics, Nonlinear Dynamics, 8, pp. 513-528.
24. Vertut, J., Charles, J., Coiffet, P. and Petit. M., 1976, Advance of the new MA23 force reflecting manipulator system, Proceedings of the Second Symposium on Theory and Practice of Robots and Manipulators, Udine, Italy, pp. 50-57.
25. Wolfe, J. D., Speyer, J. L., 2003, the periodic optimality of LQ controllers satisfying strong stabilization, Automatica, 39, pp. 1735-1746.