Extended Stability Margins on Controller Design for Nonlinear Input Delay Systems
| Authors: | Roesch Otto Juergen, University Siegen, Germany
Roth Hubert, University Siegen, Germany
Iqbal Asif, University Siegen, Germany |
|---|
| Topic: | 3.3 Computers and Telematics |
|---|
| Session: | Telematics |
|---|
| Keywords: | Time delay, Lyapunov Stability, Remote Control, State Space Realization, Nonlinear Analysis |
|---|
Abstract
In this paper, upper bounds for time-varying delays in the real-time control of a lab helicopter in the sense of practical stability analysis are derived. Sub-optimal controller parameters for this non-linear plant with a given maximum time-delay are calculated with the help of Lyapunov-Razumikhin method using LMIs (Linear Matrix Inequalities). These parameters are then optimized for extended time-delay margins by considering design specifications like settling-time and overshoot, using a novel 3-dimensional search algorithm in the vicinity of the previously identified values. Trade-off between settling-time and overshoot is achieved with the help of appropriate weighting factors in an objective function based approach.
