Time Delayed Control of SISO Systems for Improved Stability Margins

Abstract

While time delays typically lead to poor control performance, and even instability, previous research shows that time delays can, in some cases, be beneficial. This paper presents a new benefit of timedelayed control (TDC) for singleinput singleoutput (SISO) linear time invariant (LTI) systems: it can be used to improve robustness. Time delays can be used to approximate state derivative feedback (SSD), which together with state feedback (SF) can reduce sensitivity and improve stability margins. Additional sensors are not required since the state derivatives are approximated using available measurements and time delays. A systematic design approach, based on solution of delay differential equations (DDEs) using the Lambert W method, is presented using a scalar example. The method is then applied to both singleand twodegree of freedom (DOF) mechanical systems. The simulation results demonstrate excellent performance with improved stability margins.