Discretization of A Non-Linear, Continuous-Time Control Law with Small Control Delays

Guido Herrmann; Sarah K. Spurgeon; Christopher Edwards

doi:10.1111/j.1934-6093.2003.tb00098.x

Discretization of A Non-Linear, Continuous-Time Control Law with Small Control Delays

Guido Herrmann, Sarah K. Spurgeon, Christopher Edwards

Research output: Contribution to journal › Article › peer-review

Abstract

This paper considers time-discretized, non-linear, continuous-time control laws with small computational time-delays. The discretized control is not initiated immediately after the sampling instant ti. Small variable computational delays I are assumed to be present. Provided the sampling time is small and the maximum ratio is known, then the main theorem pro- vides a stability result. In contrast to a former result, the theoretical framework considers robust control problems allowing a class of uncertainty and disturbances to be investigated. The different techniques are compared numerically for a discretized continuous-time sliding-mode based state-feedback control.

Original language	English
Pages (from-to)	65-77
Number of pages	13
Journal	Asian Journal of Control
Volume	5
Issue number	1
DOIs	https://doi.org/10.1111/j.1934-6093.2003.tb00098.x
Publication status	Published - Mar 2003

Keywords

Computational delay
sampled-data implementation
non-linear control
Lyapunov theory

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title = "Discretization of A Non-Linear, Continuous-Time Control Law with Small Control Delays",

abstract = "This paper considers time-discretized, non-linear, continuous-time control laws with small computational time-delays. The discretized control is not initiated immediately after the sampling instant ti. Small variable computational delays I are assumed to be present. Provided the sampling time is small and the maximum ratio is known, then the main theorem pro- vides a stability result. In contrast to a former result, the theoretical framework considers robust control problems allowing a class of uncertainty and disturbances to be investigated. The different techniques are compared numerically for a discretized continuous-time sliding-mode based state-feedback control.",

keywords = "Computational delay, sampled-data implementation, non-linear control, Lyapunov theory",

author = "Guido Herrmann and Spurgeon, {Sarah K.} and Christopher Edwards",

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N2 - This paper considers time-discretized, non-linear, continuous-time control laws with small computational time-delays. The discretized control is not initiated immediately after the sampling instant ti. Small variable computational delays I are assumed to be present. Provided the sampling time is small and the maximum ratio is known, then the main theorem pro- vides a stability result. In contrast to a former result, the theoretical framework considers robust control problems allowing a class of uncertainty and disturbances to be investigated. The different techniques are compared numerically for a discretized continuous-time sliding-mode based state-feedback control.

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KW - Computational delay

KW - sampled-data implementation

KW - non-linear control

KW - Lyapunov theory

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Discretization of A Non-Linear, Continuous-Time Control Law with Small Control Delays

Abstract

Keywords

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