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Using a Kalman filter and a Pade approximation to estimate random time delays in a networked feedback control system

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3 Author(s)
Probst, A. ; Inst. for Syst. Dynamics, Univ. of Stuttgart, Stuttgart, Germany ; Magaña, M.E. ; Sawodny, O.

This study presents an effective algorithm to handle time delays in a feedback control loop in which both the measurement signals and the control signals are sent through a network where random time delays and packet loss occur. A method is developed to estimate the random time delay when no time stamps are present. Specifically, a Padé approximation is used to model time delay in the frequency domain, which can then be estimated by a Kalman filter. The method is applied to an inverted pendulum, where its effects are illustrated.

Published in:

Control Theory & Applications, IET  (Volume:4 ,  Issue: 11 )

Date of Publication:

November 2010

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