Extended Stability Margins on Controller Design for Nonlinear Input Delay Systems

نویسندگان

  • Otto J. Roesch
  • Hubert Roth
  • Asif Iqbal
چکیده

In this paper, upper bounds for time-varying delays in the real-time control of a lab helicopter in the sense of practical stability analysis are derived. Sub-optimal controller parameters for this non-linear plant with a given maximum time-delay are calculated with the help of Lyapunov-Razumikhin method using LMIs (Linear Matrix Inequalities). These parameters are then optimized for extended time-delay margins by considering design specifications like settling-time and overshoot, using a novel 3dimensional search algorithm in the vicinity of the previously identified values. Trade-off between settling-time and overshoot is achieved with the help of appropriate weighting factors in an objective function based approach. Copyright © 2005 IFAC

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تاریخ انتشار 2005