Q PARAMETER APPROACH TO DESIGN OF ROBUST CONTROL SYSTEMS WITH TIME DELAYS

在控制系统的设计中，低敏感性是令人信服的，以获得Yield small错误，用于在控制系统的存在中的反馈输入。“全面的感官能力必须对Robust稳定性有一定的影响。”霍华德，他们并不是零，绝对的。混合的感官特性是内在的。THE CONTROLLER SATISFINIG THE SPECIFICATION CAN BE DESIGNED BY H-D1爱马仕D1 CONTROL FOR DELAY-FREE SYSTEMS。它是为时间延迟系统设计的，在本研究中， Q参数应用程序设计的时间延迟系统已经发布。设计方法的通用稳定器与Q赞美器的设计方法是为了满足而设计的：混合的敏感性专门用于延迟-自由系统。它是通过输入延迟和输出延迟的系统扩展到系统：数字实验展示了那个预言的方法是完全可以用来控制Robust对时间延迟系统的。它被应用于视觉服务系统的成功。这些原因是系统化的，作为设计的Robust控制的时间延迟系统基于Q参数应用。

IN DESIGN OF CONTROL SYSTEMS, LOW SENSITIVITY IS REQUIRED TO YIELD SMLL ERROR FOR REFERENCE INPUTS IN THE PRESENCE OF ADDITIVE DISTURBANCES AND PERTURBATIONS OF THE CONTROLLED SYSTEMS. THE COMPLEMENTARY SENSITIVITY HAS TO BE SMALL FOR ROBUST STABILITY. HOWEVER, THEY ARE NOT ZERO SIMULTANIOUSLY. MIXED SENSITIBITY SPECIFICATION IS INTRODUCDED. THE CONTROLLER SATISFINIG THE SPECIFICATION CAN BE DESIGNED BY HィイD1∞ィエD1 CONTROL FOR DELAY-FREE SYSTEMS. IT BECOMES COMPLICATED FOR TIME-DELAY SYSTEMS.IN THIS RESEARCH, Q PARAMETER APPROACH TO DESIGN OF TIME DELAY SYSTEMS IS PRESENTED. DESIGN METHODOROGY OF GENERALIZED STABILIZER WITH Q PRAMETER IS DEVELOPED TO SATISFY THE MIXED SENSITIVITY SPECIFICATION FOR DELAY-FREE SYSTEMS. IT IS EXTENDED TO SYSTEMS WITH INPUT DELAYS AND OUTPUT DELAYS THE NUMERICAL EXPERIMENTS SHOW THAT THE PROPOSED METHOD IS USEFULL FOR ROBUST CONTROL OF TIME DELAY SYSTEMS. IT IS APPLIED TO VISUAL SERBOING SYSTEMS SUCCESSFULLY. THESE RESULTS ARE SYSTEMATIZED AS DESIGN OF ROBUST CONTROL OF TIME DELAY SYSTEMS BASED ON Q PARAMETER APPROACH.