1入力1出力線形系に対するタイム・ディレイ・コントロ-ラの設計手法

概要

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As a new control method for systems with unknown dynamics, the Time Delay Controller (TDC) has been proposed. The TDC has the characteristics of both simple control algorithms and quick response, and its validity has experimentally been shown for robot manipulators and heat pump systems. This paper discusses design aspect of the TDC for single-input-single-output linear systems. Under the assumption that a small time delay is implemented by a shift operator in discrete time domain, stability and model following property is analyzed. Based on the analysis, a guideline is given for the choice of the two major design parameters, which are a time delay and an estimated value of a control coefficient. Finally, the proposed guideline's usefulness is evaluated by simulation for second order systems.