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Conference Papers Year : 2020

Towards an MID-based Delayed Design for Arbitrary-order Dynamical Systems with a Mechanical Application

Abstract

In this study we consider the stabilization of n th-order linear time-invariant (LTI) dynamical systems using Multiplicity-Induced-Dominancy (MID)-based controller design in the presence of delays in the input/output channels. A sufficient condition is given for the dominancy of a real root with multiplicity n + 1 using an integral representation of the corresponding characteristic function. Furthermore, this sufficient condition is analyzed in the case when the characteristic function of the open-loop system is real-rooted, and delay intervals are derived for the set of parameters satisfying stabilizability and dominancy conditions. The efficiency of the proposed controller design is shown in the case of a multi-link inverted pendulum.
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Dates and versions

hal-02889938 , version 1 (06-07-2020)

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Cite

Tamas Balogh, Tamás Insperger, Islam Boussaada, Silviu-Iulian Niculescu. Towards an MID-based Delayed Design for Arbitrary-order Dynamical Systems with a Mechanical Application. IFAC 2020 - 21st IFAC World Congress, Jul 2020, Berlin / Virtual, Germany. ⟨10.1016/j.ifacol.2020.12.065⟩. ⟨hal-02889938⟩
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