Characteristics of One Step Advanced Discrete Time D-Control with Time Delay in Noncolocated Flexible System

비병치 유연계의 시간지연 이산제어에서 한스텝선행 미분제어기의 특성

This paper considers a time delay control of noncolocated flexible mechanical systems in discrete time domain. A stability criterion suggested in the previous paper is,extended in the consideration of infinite mode property of flexible systems and finite control sampling frequency. Based on the stability criterion, the one step advanced discrete time derivative control is suggested, which can stabilize infinite number of modes of a flexible system. The sensitivity analysis shows the robustness of the one step advanced control to the system parameter uncertainties and time delay errors. Application to a simply supported beam verifies the extended stability criterion and the effectiveness of the one step advanced D-control.