DYNAMIC COMPENSATOR DESIGN METHOD FOR A CLASS OF TIME-DELAY CONTROL SYSTEMS WITH SATURATING ACTUATORS

摘要

A dynamic compensator design method for a class of time-delay control systems with saturating actuators is proposed. Under the assumption that a controller was designed for a time-delay control system based on existing design techniques which shows desirable nominal performance, an additional compensator is introduced to provide smooth performance degradation under control input saturation. By taking the difference of the controller states in the absence and presence of saturating actuators as a performance index, a dynamical compensator which minimizes it is derived. The resulting dynamical compensator is expressed explicitly in the plant and controller parameters. The proposed method not only provides smooth performance degradation, but also guarantees the total stability of the overall systems.