Title :
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
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;
Conference_Titel :
Intelligent Control, 2002. Proceedings of the 2002 IEEE International Symposium on
Print_ISBN :
0-7803-7620-X
DOI :
10.1109/ISIC.2002.1157884
