This study aims to perform a comparison of different control schemes, which are characterized by their delay-based nature, where the time delay is considered as a parameter of the control law. To facilitate this research, we look at a second-order linear time-invariant (LTI) single-input single-output (SISO) system as our test bench. Moreover, we propose a simple but efficient methodology to compute the delay margin for these control schemes, which exploits the continuity of the characteristic roots with respect to the parameters of the characteristic function of the closed-loop system. Furthermore, we evaluate the performance and robustness of the closed-loop system by numerical simulations and physical experiments. By conducting this in-depth analysis, we gain valuable insight into the strengths and limitations of each control scheme, providing a clearer understanding of their real-world applicability.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Exploring Delay-Based Controllers. A Comparative Study for Stabilizing Angular Positioning


    Additional title:

    Lect. Notes in Networks, Syst.



    Conference:

    Proceedings of the Latin American Congress on Automation and Robotics ; 2023 ; Universidad Don Bosco, San Salvador, El Salvador November 15, 2023 - November 17, 2023



    Publication date :

    2024-03-31


    Size :

    14 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Stabilizing sets of PI/PID controllers for unstable second order delay system

    Farkh, R. / Laabidi, K. / Ksouri, M. | British Library Online Contents | 2014


    Design methodology for robust stabilizing controllers

    SCHMITENDORF, WILLIAM E. | AIAA | 1987



    Simultaneously stabilizing controllers subject to QI subspace constraints

    Yu, Tianqiu | British Library Online Contents | 2017