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

点击翻译按钮获取中文摘要

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.