Design of bilateral control for a certain class of non-minimum phase time-delay system the parameterization approach

摘要

We examine a design method for bilateral control systems for a certain class of non-minimum phase system. The problem of a bilateral control system with time-delay is treated as a design method for control systems for non-minimum phase time-delay systems. First, the parameterization of all stabilizing controllers for a certain class of non-minimum time-delay system is given. Using the parameterization of all stabilizing controllers, a design method for each controller is proposed. Because this method does not treat time-delay of the bilateral control system as uncertain, high-performance control characteristics can be obtained for the bilateral control system.