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• W3186987742 abstract "This paper involves stability and design considerations for a digital controller with constant input delay for a class of linear and nonlinear systems. The controller considered is a digital PI/PID controller generalized to a multi-input multi-output system of any order, with the gain structure from “Time Delay Control (TDC)”, that provides simplicity for gain tuning, along with high tracking performance. Compact approximate conditions for stability are established for systems with constant input matrix, and with constant input delay, when the sampling time itself is sufficiently small. The conditions are dependent on the ratio of delay to sampling time, along with the plant input matrix, and its estimate used in the controller - they are useful for guiding initial parameter selection. It is established as a general approximate case for sufficiently small sample times that the impact of delay is not always adverse, and the delay can be beneficial in improving the stability range for controller parameters, and can be an additional tuning parameter for the control system. Additionally, for scalar or diagonal input matrices, it is established that the approximate stability range for plant input gain over its estimate in the controller for sufficiently small sampling time is (0, 2) for zero delay, and the range improves monotonically to (0, 4) as delay is increased from zero to 1/4 sample time, and then declines monotonically to (0, 1) as delay is further increased to one sample time." @default.
• W3186987742 created "2021-08-02" @default.
• W3186987742 creator A5009288162 @default.
• W3186987742 date "2021-05-25" @default.
• W3186987742 modified "2023-09-26" @default.
• W3186987742 title "Approximate Stability Conditions for Systems with Input Delay and Digital PI/PID Controller of Time Delay Control Form" @default.
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• W3186987742 doi "https://doi.org/10.23919/acc50511.2021.9483224" @default.
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