A study on the 2 D.O.F. ramp tracking controller for the Distributed Control Systems with Network induced Time-Delays by $\mu$ control

분산 제어 시스템에서의 시간 지연 보상을 위한 2-자유도 $\mu$ 제어기 연구에 관한 연구

In the distributed control systems where the control components, controllers and sensors are distributed on a communications network, there exit network time delays on communication lines between the system components. This paper deals with the 2 D.O.F. ramp tracking controller design issue for such system. Time delay terms are converted into rational terms using Pade approximation method and the system is augmented with two integrators for ramp tracking. For this system, $\mu$-controller design method, which enables to meet not only performance requirements but robust stabilities simultaneously, is employed.