Comparative Study for Controller Design of Time-delay Systems

Abstract

Time delays are usually unavoidable in many mechanical and electrical systems. The presence of delay typically imposes strict limitations on achievable feedback performance in both continuous and discrete systems. The presence of the delay complicates the design process as it makes continuous systems to be infinite dimensional and it significantly increases the dimensions in discrete systems. Most of classical methods used controller design cannot be used with delayed systems. In this study, the delay will be modeled using different approaches such as Pad’e approximation and Smith Predictor in continuous system and modified z-transform in discreet systems. In this study, the delays are assumed to be constant and known. The delays in the system are lumped in the plant model. This study will show the design of stable and optimal controller for time-delay systems using algebraic Riccati equation solutions and PID control. This study will also present comparison between these controllers.