Design of bilateral control for a certain class of non-minimum phase time-delay system - the parameterization approach

Author

Yamada, Kou ; Iida, Noriyuki ; Kudou, Naoki

Author_Institution

Dept. of Mech. Syst. Eng., Gunma Univ., Kiryu, Japan

fYear

2002

fDate

2002

Firstpage

913

Lastpage

918

Abstract

We examine a design method for bilateral control systems for a certain class of non-minimum phase system. The problem of bilateral control system with time-delay is treated as a design method for the control systems of non-minimum phase time-delay systems. First, the parameterization of all stabilizing controllers for a certain class of non-minimum time-delay system is given. Using the parameterization of all stabilizing controllers, a design method for each controller is proposed. Since this method does not treat the time-delay of the bilateral control system as being uncertain, high-performance control characteristics can be obtained for the bilateral control system.

Keywords

asymptotic stability; delay systems; interpolation; robust control; sensitivity analysis; step response; transfer functions; asymptotic stability; bilateral control systems; interpolation; nonminimum phase system; parameterization; sensitivity function; stabilizing controllers; step response; time delay systems; transfer functions; Control system synthesis; Control systems; Delay systems; Design methodology; Force control; Manipulator dynamics; Mechanical systems; Stability; Transfer functions; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 2002. Proceedings of the 2002 IEEE International Symposium on

ISSN

2158-9860

Print_ISBN

0-7803-7620-X

Type

conf

DOI

10.1109/ISIC.2002.1157884

Filename

1157884