Analytical controller design strategy for remotely operated systems with long time delays

This paper presents a new analytical controller design strategy for remotely operated systems, emphasizing on the stability of closed-loop control systems involving long time delays. A model-predictive control loop is constructed and implemented inside a digital controller to provide predictive state information, and an efficient model reduction method is applied to yield a reduced-order digital controller. This reduced-order digital controller is a model-reference adaptive controller that can control closed-loop systems with long time delays by following a specified performance. The Stanford arm is chosen as a simulation example