Jitter compensation in digital control systems

A method to compensate for time-varying, possibly random, delays (jitter) in digital control systems is presented. Using time-stamps from the control system, a linear compensator is designed as an add-on to an existing control system. The stability and performance is analysed, and leads to frequency domain conditions. Therefore, loop-shaping can be used for the compensator design. The design of the compensator can be done without a full process model.