Robust digital controller design for processes with dead times: new results

The Dahlin controller is studied in the complex-frequency domain in terms of performance and robust stability. Several well known digital control algorithms are compared with the Dahlin controller and found to be equivalent to it. The possibility of extending the Dahlin controller to the control of plants with zeros outside the unit circle and unstable plants is discussed. The essential cause of ringing is investigated and some ambiguous formulation is clarified. A new procedure is developed for digital controller design. Compared with conventional methods, it provides a more effective method of eliminating ringing. Finally, numerical examples are given to illustrate the new approach