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Stability analysis for time delay control of nonlinear systems in discrete-time domain with a standard discretisation method
JinohLEE,GustavoA.MEDRANO-CERDA,JeHyungJUNG
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(Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, Genoa, 16163, Italy;Tecnalia Research and Innovation, Mikeletegi Pasealekua, 1-3, E-20009, Donostia-San Sebasti{\'a}n, Spain)
摘要:
This paper provides stability analysis results for discretised time delay control (TDC) as implemented in a sampled data system with the standard form of zero-order hold. We first substantiate stability issues in discrete-time TDC using an example and propose sufficient stability criteria in the sense of Lyapunov. Important parameters significantly affecting the overall system stability are the sampling period, the desired trajectory and the selection of the reference model dynamics.
关键词:  Time delay control (TDC), discretisation, stability analysis, zero-order hold
DOI:https://doi.org/10.1007/s11768-020-9125-2
基金项目:
Stability analysis for time delay control of nonlinear systems in discrete-time domain with a standard discretisation method
Jinoh LEE,Gustavo A. MEDRANO-CERDA,Je Hyung JUNG
(Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, Genoa, 16163, Italy;Tecnalia Research and Innovation, Mikeletegi Pasealekua, 1-3, E-20009, Donostia-San Sebasti{\'a}n, Spain)
Abstract:
This paper provides stability analysis results for discretised time delay control (TDC) as implemented in a sampled data system with the standard form of zero-order hold. We first substantiate stability issues in discrete-time TDC using an example and propose sufficient stability criteria in the sense of Lyapunov. Important parameters significantly affecting the overall system stability are the sampling period, the desired trajectory and the selection of the reference model dynamics.
Key words:  Time delay control (TDC), discretisation, stability analysis, zero-order hold