Stabilizing High-order Delayed Systems with Minimum-phase Zeros Using Simple Controllers

Simple Robust Controllers for Delayed Systems

A way for treating general delayed systems with uncertain delays in both the numerator and denominator is shown. The proposed procedure is demonstrated by an example. A simple controller is derived via algebraic theory and the structured singular value, which treats uncertain time delay in both the numerator and denominator of an anisochronic system. The overall performance is verified by simul...

Non-minimum phase systems: r.h.p. zeros

The Parameterization of All Stabilizing Repetitive Controllers for a Certain Class of Non-minimum Phase Systems

We give an explicit parameterization of all causal stabilizing repetitive controllers for single-input/single-output continuous time non-minimum phase systems of a certain class. When the plant meets certain conditions, using the parallel compensation technique, we obtain the parameterization of all repetitive controllers. Finally, a numerical example shows the effectiveness of this parameteriz...

Optimizing low-order controllers for haptic systems under delayed feedback

In this paper, a PD controller design for haptic systems under delayed feedback is considered. More precisely, a complete stability analysis of a haptic system where local dynamics are described by some second-order mechanical dynamics is presented. Next, using two optimization techniques (H1 and stability, margin optimization) an optimal choice for the controller gains is proposed. The derived...

Stabilizing First-Order controllers with desired stability Region

In this paper, we determine the set of all stabilizing first-order controllers that place the poles of the closed-loop system in a desired stability region. The solution is based on a generalization of the Hermite–Biehler theorem applicable to polynomials with complex coefficients and the application of a modified stabilizing gain algorithm to three subsidiary plants. The method given is also a...