Browsing by Subject "Low-order controller design"

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    Low order controller design for systems with time delays
    (2011-12) Gündeş, A. N.; Özbay, Hitay
    Finite-dimensional controller synthesis methods are developed for some classes of linear, time-invariant, single-input single-output, or multi-input multi-output systems, which are subject to time delays. The proposed synthesis procedures give low-order stabilizing controllers that also achieve integral-action so that constant reference inputs are tracked asymptotically with zero steady-state error. © 2011 IEEE.
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    Low-order controller design for haptic systems under delayed feedback
    (2012) Liacu, B.; Koru, A. T.; Özbay, Hitay; Niculescu, S. -I.; Andriot, C.
    In this paper, we consider PD controller design for haptic systems under delayed feedback. More precisely, we present a complete stability analysis of a haptic system where local dynamics are described by some second-order mechanical dynamics. Next, using two optimization techniques (H ∞ and stability margin optimization) we propose an optimal choice for the controller gains. The derived results are tested on a three degree of freedom real-time experimental platform to illustrate the theoretical results. © 2012 IFAC.