Title :
Comments on "Computing time delay and its effects on real-time control systems"
Author :
Long, M.L. ; Carroll, J.J. ; Mukundan, R.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clarkson Univ., Potsdam, NY, USA
fDate :
5/1/1997 12:00:00 AM
Abstract :
In the above paper by Shin and Cui (see ibid., vol.3, p.218-24, 1995), the effects of computing time delay on real-time control systems were addressed qualitatively and quantitatively, where the quantitative analysis was based on an example, i.e., the computed torque control of a robot. The purpose of this letter is to point out that the results of the quantitative analysis are incorrect.
Keywords :
delays; real-time systems; robots; computed torque control; computing time delay; quantitative analysis; real-time control systems; robot; Control systems; Delay effects; Equations; Level control; PD control; Proportional control; Real time systems; Robots; Torque control; Upper bound;
Journal_Title :
Control Systems Technology, IEEE Transactions on
