A Stabilization Method for Nonlinear Time-Delay Systems and Its Dynamics

概要

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This paper is concerned with a stabilization method for nonlinear time-delay systems.Generally, hunting will often occur due to the time delay.Though the Smith method is known to be able to prevent it, there are many difficulties in its application.In this research, a new stabilization method is proposed, which can prevent hunting and reduce the steady-state error to zero by parameter adjustment.First, the stability analysis of nonlinear time-delay systems is clarified using the circle theorem.Second, in order to analyze the robustness of the new compensator, its robust stability condition is derived for such control systems with a time delay and a saturated-type nonlinearity, and the stability margins under the identified errors of time delay are evaluated.Third, the new compensator is directly represented by a form of z transform, and its stabilization and dynamical characteristics are analyzed using the root locus method.From these studies, it is verified that the new stabilization method is useful for general nonlinear time-delay control systems.
一般社団法人日本機械学会の論文
1998-03-15