Discrete Time Noncolocated Control of Flexible Mechanical Systems Using Time Delay: Part I - Theory

This paper presents a discrete time noncolocated control of flexible mechanical systems. The time delay method in continuous time control is extended to discrete time control. A stability criterion that relates the closed-loop stability to the sampling frequency, time delay, and sensor and actuator locations, is derived. Based on the criterion, particular noncolocated controllers are designed for a simply supported beam. In addition, a sensitivity analysis yields a robust control condition in terms of the sampling frequency and the bounds of system parameter uncertainties and inherent delays.