P·SPR·D+I control of linear MIMO systems with time-delay by application of high gain feedback

This paper is concerned with set-point servo problem of linear time-delay systems. First, we formulate P·SPR·D control of linear MIMO time-delay systems and make stability analysis by applying Lyapunov´s direct method and LMI technique. Next, we investigate high gain output feedback theorem for state time-delay systems being minimum phase. Stability analysis is made based on Lyapunov´s direct method. By applying the above theorem, we establish P·SPR·D or P·SPR·D+I control for the control-input time-delay system. Here the system is converted into minimum phase one by P, SPR, D elements and then the high gain feedback is applied to adjust P·SPR·D controller parameters in order to asymptotically stabilize the closed-loop system. LMI technique is used to make the zero dynamics be asymptotically stable. The effectiveness of the proposed method is confirmed by the simulation results of various plants.