Implementing Time-delay Controllers on an Educational Motion Control Platform

This work presents the implementation of advanced time-delay controllers in a low-cost educational motion control platform based on a radio control (RC) servo. The highlights of the platform are presented as well as real-time experiments using the Proportional Integrated Retarded (PIR) and the Cascade Proportional Integrated Retarded (CPIR) algorithms. The experiments allow assessing the capabilities of the platform for implementing advanced controllers, and highlights the inherent filtering capabilities of time-delay controllers when they are fed by noisy measurements.