| Robustness to Jitter in Real Time System (1994) | |||||||||||||
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| Ce travail concerne le controle d'un moteur en pr'esence de retards. Abstract This work considers control of a motor in presence of delays. Design equations are derived based on polynomial design. The design depends on the designer's choices, i.e. desired closed-loop behaviour, expected delay, observer poles and sampling period. The main part of this work studies the influence of these choices on the stability of the system : stability domains in terms of delays are computed, a gain scheduling controller is simulated and a trade off between robustness to delays and load disturbance cancellation is found when placing the observer poles. Contents 1 Introduction 1 2 System characteristics 2 2.1 In absence of delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 2.1.1 Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 2.1.2 RST design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 2.2 In presence of de... | |||||||||||||
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