Performance Limitations in Control Systems with Sensor Time Delays
Abstract
This paper derives performance limitations associated with sensor delays in single-input single-output discrete-time feedback loops. Aspects of performance considered are tracking and sensitivity to plant uncertainty. It is shown that, in both one degree-of-freedom and two degree-of-freedom control configurations, closed-loop sensitivity with respect to plant model uncertainty is fundamentally limited by the presence of the sensor delay. The sensitivity bound provided in this paper can be used to quantify how sensitivity necessarily worsens as the sensor delay increases and as the closed-loop bandwidth increases.
