A New Methodology of Simple Controller Design for Time Delay Systems Part One –– Stable System

The paper presents a new methodology of the controller design for time delay systems. The proposed method based on a polynomial approach and LQ control theory yields a class of CT controllers ensuring setpoint tracking as well as load disturbance attenuation. The 2DOF control configuration was considered. The resulting controller obtained via polynomial Diophantine equations and spectral factorization technique are stable. Time delay terms are approximated by two methods and they are incorporated into the control design as a perturbation. The obtained control algorithms were compared and analysed for a stable first order time delay system.