Taşdelen, Uğur2016-01-082016-01-082013http://hdl.handle.net/11693/17081Ankara : The Department of Electrical and Electronics Engineering and the Graduate School of Engineering and Science of Bilkent Univ., 2013.Includes bibliographical references leaves 47-49.In this thesis, a new Smith predictor based controller is proposed for a flexible robot arm. A typical robot arm model includes high order modes with integral action from torque input to velocity output. Here we can also consider the effect of possible delays between the plant and the controller. The controller structure considered has an extended Smith predictor form. The designs use controller parametrization for stability and they also achieve certain performance objectives via interpolation conditions based on the disturbance rejection and setpoint tracking properties. This parametrization method allows widest freedom in controller parameters and this results in improved performance, both in set-point response and disturbance rejection. Free parameters in the controller determines the location of closed-loop poles. A hierarchical structure is used to extend Smith predictor structure to the position control loop. By protecting proposed structure, different approaches are shown to control the position. Compared to existing Smith predictor based designs, disturbance attenuation property with respect to periodic disturbances at a known frequency is improved. A two-degree of freedom controller structure is shown to be helpful in shaping the transient response under constant reference inputs. Stability robustness properties of this system are also investigated. Simulation results demonstrate the effectiveness of the proposed controller.vi, 49 leaves, tables, graphsEnglishinfo:eu-repo/semantics/openAccessTime Delay SystemsFlexible Robot ArmSmith Predictor Based ControllerRobust ControllerPeriodic DisturbanceTJ211.35 .T37 2013Robots--Control systems.Robots--Dynamics.Time delay systems.Thesis