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2DOF controller parametrization for systems with a single I/O delay

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2 Author(s)
Mirkin, L. ; Fac. of Mech. Eng., Technion Israel Inst. of Technol., Haifa, Israel ; Qing-Chang Zhong

This note puts forward a parametrization of all stabilizing two-degrees-of-freedom controllers for (possibly unstable) processes with dead-time. The proposed parametrization is based on a doubly coprime factorization of the plant and takes the form of a generalized Smith predictor (dead-time compensator) feedback part and a finite-dimensional feedforward part (prefilter). Some alternative dead-time compensation schemes and disturbance attenuation limitations are also discussed.

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Automatic Control, IEEE Transactions on  (Volume:48 ,  Issue: 11 )