TIME DELAY ROBUST CONTROL – PROGRAM IMPLEMENTATION

AbstractThe contribution presents a control design method for robust tuning of continuous-time controllers for SISO with time delays. Controllers are obtained via general solutions of Diophantine equations in the ring of proper and stable rational functions. The methodology covers both stable and unstable systems. The control objectives are obtained through divisibility conditions in this ring. Robustness of proposed algorithms can be studied through the infinity norm and sensitivity function. Several approximations of time delay terms and two control structures of controlled loop were considered. A scalar parameter was proposed as a tuning knob for influencing of stability, minimization of the sensitivity function and uncertainty evaluation. A Matlab-Simulink package was developed for automatic design and simulation of proposed algorithms.