Explicit formulas for optimally robust controllers for delay systems.
Dym H., Georgiou T.T. and Smith M.C.
IEEE Transactions on Automatic Control, Volume 40, Pages 656-669, 1995Abstract
This paper considers systems whose transfer functions take the form of a strictly proper rational function times a delay. A closed form expression is presented for the controller which is optimally robust with respect to perturbations measured in the gap metric. The formula allows the H-infinity loop-shaping procedure of Glover-McFarlane to be carried out explicitly for this class of systems without the need to first find a rational approximation of the plant. The form of the controller involves a certain algebra of ``pseudo-derivation'' operators. These operators, and their matrix generalizations, play a central role in the derivation of the controller. A discussion of the main properties of these operators will be given. An example will be presented of a controller design to achieve disturbance attenuation and robust set-point following for a plant with two lightly damped poles and a non-trivial time delay. The performance is compared, and shown to be superior, to that of a Smith predictor.
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BibTex Entry
- @Article{,
- author = {Dym H., Georgiou T.T. and Smith M.C.},
- journal = {IEEE Transactions on Automatic Control},
- title = {Explicit formulas for optimally robust controllers for delay systems. },
- year = {1995},
- pages = {656-669},
- volume = {40}
- }
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