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.
Exploring Delay-Based Controllers. A Comparative Study for Stabilizing Angular Positioning
Lect. Notes in Networks, Syst.
Proceedings of the Latin American Congress on Automation and Robotics ; 2023 ; Universidad Don Bosco, San Salvador, El Salvador November 15, 2023 - November 17, 2023
2024-03-31
14 pages
Article/Chapter (Book)
Electronic Resource
English
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