Towards an MID-based Delayed Design for Arbitrary-order Dynamical Systems with a Mechanical Application

Tamas Balogh (1) , Tamás Insperger (1) , Islam Boussaada (2) , Silviu-Iulian Niculescu (2)

1 BME - Budapest University of Technology and Economics [Budapest]
2 DISCO - Dynamical Interconnected Systems in COmplex Environments

In this study we consider the stabilization of n th-order linear time-invariant (LTI) dynamical systems using Multiplicity-Induced-Dominancy (MID)-based controller design in the presence of delays in the input/output channels. A sufficient condition is given for the dominancy of a real root with multiplicity n + 1 using an integral representation of the corresponding characteristic function. Furthermore, this sufficient condition is analyzed in the case when the characteristic function of the open-loop system is real-rooted, and delay intervals are derived for the set of parameters satisfying stabilizability and dominancy conditions. The efficiency of the proposed controller design is shown in the case of a multi-link inverted pendulum.

Mots clés: dynamical system; delay; spectral properties; inverted pendulum

Domaines: Automatique / Robotique; Systèmes dynamiques [math.DS]

Tamas Balogh, Tamás Insperger, Islam Boussaada, Silviu-Iulian Niculescu. Towards an MID-based Delayed Design for Arbitrary-order Dynamical Systems with a Mechanical Application. IFAC 2020 - 21st IFAC World Congress, Jul 2020, Berlin / Virtual, Germany. ⟨10.1016/j.ifacol.2020.12.065⟩. ⟨hal-02889938⟩