제어로봇시스템학회:학술대회논문집
- 2005.06a
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- Pages.548-552
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- 2005
Design of a controller for input time-delay nonlinear system
- Choi, Hyung-Jo (Department of Mechatronics Engineering, Chonbuk National University) ;
- Choi, Yong-Ho (Department of Electronics & Information Engineering, Chonbuk National University) ;
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Chong, Kil-To
(Department of Electronics & Information Engineering, Chonbuk National University)
- Published : 2005.06.02
Abstract
In most physical processes, the transfer function includes a time-delay, and in the general distributed control system using a computer network, an inherent time-delay exists due to the spatial separation between controllers and actuators. Under the circumstance where an input time-delay exits, the system response overshoots and tends to diverge. For this reasons described above, a controller design method is proposed for a discrete nonlinear system including input time-delay, which adopts the time-discretization using Taylor series. Controllers are synthesized using an input/output linearization method. Finally, several cases of the computer simulations were conducted, and the results validate the proposed methods.