A New Perspective for Time Delayed Control Systems With Application to Vibration Suppression

2002 ◽  
Author(s):  
Rifat Sipahi ◽  
Nejat Olgac
Keyword(s):  
Time Delay ◽  
Control Systems ◽  
Vibration Suppression ◽  
Linear Time ◽  
Direct Method ◽  
Interesting Property ◽  
System Stability ◽  
Delayed Systems ◽  
Linear Time Invariant ◽  
The Stability

Most control systems are contaminated with some level of time delay. Whether it appears due to the inherent system dynamics or because of the sensory feedback, the delay has to be resolved regarding the system stability. We explain an unprecedented and fundamental treatment of time delay in a general class of linear time invariant systems (LTI) following a strategy, which we call the ‘Direct Method’. The strengths of the method lie in recognizing two interesting and novel features, which are typical for this class of systems. These features enable a structured strategy to be formed for analyzing the stability of LTI-TDS (Time Delayed Systems). Vibration control settings are not immune from time delay effects. We present a case study on active control of vibration using linear full state feedback. We then apply the Direct Method on this structure to display the stability outlook along the axis of delay. There appears an interesting property, which is related to the determination of the imaginary (i.e. marginally stable) roots of LTI-TDS. We state a general lemma and proof on this point.

Active Vibration Suppression With Time Delayed Feedback

2003 ◽  
Vol 125 (3) ◽  
pp. 384-388 ◽  
Author(s):  
Rifat Sipahi ◽  
Nejat Olgac
Keyword(s):  
Stability Analysis ◽  
Time Delay ◽  
Vibration Suppression ◽  
Linear Time ◽  
Direct Method ◽  
System Stability ◽  
Delayed Systems ◽  
Active Vibration Suppression ◽  
Active Vibration ◽  
The Stability

Various active vibration suppression techniques, which use feedback control, are implemented on the structures. In real application, time delay can not be avoided especially in the feedback line of the actively controlled systems. The effects of the delay have to be thoroughly understood from the perspective of system stability and the performance of the controlled system. Often used control laws are developed without taking the delay into account. They fulfill the design requirements when free of delay. As unavoidable delay appears, however, the performance of the control changes. This work addresses the stability analysis of such dynamics as the control law remains unchanged but carries the effect of feedback time-delay, which can be varied. For this stability analysis along the delay axis, we follow up a recent methodology of the authors, the Direct Method (DM), which offers a unique and unprecedented treatment of a general class of linear time invariant time delayed systems (LTI-TDS). We discuss the underlying features and the highlights of the method briefly. Over an example vibration suppression setting we declare the stability intervals of the dynamics in time delay space using the DM. Having assessed the stability, we then look at the frequency response characteristics of the system as performance indications.

Degenerate Cases in Using the Direct Method

2003 ◽  
Author(s):  
Rifat Sipahi ◽  
Nejat Olgac
Keyword(s):  
Stability Analysis ◽  
Time Delay ◽  
Linear Time ◽  
Direct Method ◽  
Degenerate System ◽  
Delayed Systems ◽  
Linear Time Invariant ◽  
The Stability ◽  
Time Invariant ◽  
Degenerate Cases

A practical stability analysis, the Direct Method, for linear time invariant, time delayed systems (LTI-TDS) is revisited in this work considering the degenerate system dynamics. The principal strengths and enabling novelties of the method are reviewed along with its structured steps involved for assessing the stability. Uncommon in the literature, the Direct Method can handle large dimensional systems (e.g. larger than 2) very comfortably, it returns an explicit formula for the exact stability posture of the system for a given time delay, as such it reveals the possible detached stability pockets throughout the time delay axis. Both retarded and neutral classes of LTI-TDS are considered in this work. The main contribution here is to demonstrate the ability of the Direct Method in tackling degenerate cases. Along with the analytical arguments, example case studies are provided for a group of degeneracies. It is shown that the new method is capable of resolving them without any difficulty.

Degenerate Cases in Using the Direct Method

2003 ◽  
Vol 125 (2) ◽  
pp. 194-201 ◽  
Author(s):  
Rifat Sipahi ◽  
Nejat Olgac
Keyword(s):  
Stability Analysis ◽  
Time Delay ◽  
Linear Time ◽  
Direct Method ◽  
Degenerate System ◽  
Delayed Systems ◽  
Linear Time Invariant ◽  
The Stability ◽  
Time Invariant ◽  
Degenerate Cases

A recent stability analysis, the Direct Method, for linear time invariant, time delayed systems (LTI-TDS) is revisited in this work considering the degenerate system dynamics. The principal strengths and enabling novelties of the method are reviewed along with its structured steps involved for assessing the stability. Uncommon in the literature, the Direct Method can handle large dimensional systems (e.g., larger than two) very comfortably. It returns an explicit formula for the exact stability posture of the system for a given time delay, as such it reveals the possible detached stability pockets throughout the time delay axis. Both retarded and neutral classes of LTI-TDS are considered in this work. The main contribution here is to demonstrate the ability of the Direct Method in tackling degenerate cases. Along with the analytical arguments, example case studies are provided for a group of degeneracies. It is shown that the new method is capable of resolving them without any difficulty.

Stability Analysis of Multiple Time Delayed Systems Using the Direct Method

2003 ◽  
Author(s):  
Rifat Sipahi ◽  
Nejat Olgac
Keyword(s):  
Stability Analysis ◽  
Time Delays ◽  
Linear Time ◽  
Direct Method ◽  
Multiple Time ◽  
Delayed Systems ◽  
Practical Applications ◽  
Linear Time Invariant ◽  
Multiple Time Delays ◽  
The Stability

A novel treatment for the stability of a class of linear time invariant (LTI) systems with rationally independent multiple time delays using the Direct Method (DM) is studied. Since they appear in many practical applications in the systems and control community, this class of dynamics has attracted considerable interest. The stability analysis is very complex because of the infinite dimensional nature (even for single delay) of the dynamics and furthermore the multiplicity of these delays. The stability problem is much more challenging compared to the TDS with commensurate time delays (where time delays have rational relations). It is shown in an earlier publication of the authors that the DM brings a unique, exact and structured methodology for the stability analysis of commensurate time delayed cases. The transition from the commensurate time delays to multiple delay case motivates our study. It is shown that the DM reveals all possible stability regions in the space of multiple time delays. The systems that are considered do not have to possess stable behavior for zero delays. We present a numerical example on a system, which is considered “prohibitively difficult” in the literature, just to exhibit the strengths of the new procedure.

The Cluster Treatment of Characteristic Roots and the Neutral Type Time-Delayed Systems

2004 ◽  
Author(s):  
Nejat Olgac ◽  
Rifat Sipahi
Keyword(s):  
Time Delay ◽  
Linear Time ◽  
Neutral Type ◽  
Direct Consequence ◽  
Necessary Condition ◽  
Delayed Systems ◽  
Linear Time Invariant ◽  
Characteristic Roots ◽  
Stability Intervals ◽  
The Stability

A new methodology is presented for assessing the stability posture of a general class of linear time-invariant – neutral time-delayed systems (LTI-NTDS). It is based on a “Cluster Treatment of Characteristic Roots CTCR” paradigm. The technique offers a number of unique features: It returns exact bounds of time delay for stability, furthermore it yields the number of unstable characteristic roots of the system in an explicit and non-sequentially evaluated function of time delay. As a direct consequence of the latter feature, the new methodology creates entirely, all existing stability intervals of delay, τ. It is shown that the CTCR inherently enforces an intriguing necessary condition for τ-stabilizability, which is the main contribution of this paper. This, so called “small delay” effect, was recognized earlier for NTDS, only through some cumbersome mathematics. In addition to the above listed characteristics, the CTCR is also unique in handling systems with unstable starting posture for τ = 0, which may be τ-stabilized for higher values of delay. Example cases are provided.

The Cluster Treatment of Characteristic Roots and the Neutral Type Time-Delayed Systems

2004 ◽  
Vol 127 (1) ◽  
pp. 88-97 ◽  
Author(s):  
Nejat Olgac ◽  
Rifat Sipahi
Keyword(s):  
Time Delay ◽  
Linear Time ◽  
Direct Method ◽  
Neutral Type ◽  
Direct Consequence ◽  
Necessary Condition ◽  
Delayed Systems ◽  
Linear Time Invariant ◽  
Characteristic Roots ◽  
Stability Intervals

A new methodology is presented for assessing the stability posture of a general class of linear time-invariant—neutral time-delayed systems (LTI-NTDS). It is based on a “Cluster Treatment of Characteristic Roots CTCR” paradigm, which yields a procedure called the Direct Method (DM). The technique offers a number of unique features: It returns exact bounds of time delay for stability, as well as the number of unstable characteristic roots of the system in an explicit and nonsequentially evaluated function of time delay. As a direct consequence of the latter feature, the new methodology creates entirely, all existing stability intervals of delay, τ. It is shown that the Direct Method inherently enforces an intriguing necessary condition for τ-stabilizability, which is the main contribution of this paper. This, so-called, “small delay” effect, was recognized earlier for NTDS, only through some cumbersome mathematics. Furthermore, the Direct Method is also unique in handling systems with unstable starting posture for τ=0, which may be τ-stabilized for higher values of delay. Example cases are provided.

Kernel and Offspring Concepts for the Stability Robustness of Multiple Time Delayed Systems (MTDS)

2006 ◽  
Vol 129 (3) ◽  
pp. 245-251 ◽  
Author(s):  
Rifat Sipahi ◽  
Nejat Olgac
Keyword(s):  
Time Delays ◽  
Linear Time ◽  
Characteristic Root ◽  
Invariance Property ◽  
Multiple Time ◽  
Delayed Systems ◽  
Linear Time Invariant ◽  
Characteristic Roots ◽  
Stability Robustness ◽  
The Stability

A novel treatment for the stability of linear time invariant (LTI) systems with rationally independent multiple time delays is presented in this paper. The independence of delays makes the problem much more challenging compared to systems with commensurate time delays (where the delays have rational relations). We uncover some wonderful features for such systems. For instance, all the imaginary characteristic roots of these systems can be found exhaustively along a set of surfaces in the domain of the delays. They are called the “kernel” surfaces (curves for two-delay cases), and it is proven that the number of the kernel surfaces is manageably small and bounded. All possible time delay combinations, which yield an imaginary characteristic root, lie either on this kernel or its infinitely many “offspring” surfaces. Another hidden feature is that the root tendencies along these surfaces exhibit an invariance property. From these outstanding characteristics an efficient, exact, and exhaustive methodology results for the stability assessment. As an added uniqueness of this method, the systems under consideration do not have to be stable for zero delays. Several example case studies are presented, which are prohibitively difficult, if not impossible to solve using any other peer methodology known to the authors.

Equivalency of Stability Transitions Between the SDS (Spectral Delay Space) and DS (Delay Space)

2013 ◽  
Author(s):  
Qingbin Gao ◽  
Umut Zalluhoglu ◽  
Nejat Olgac
Keyword(s):  
Linear Time ◽  
Broad Class ◽  
Delay Systems ◽  
Multiple Delays ◽  
Delayed Systems ◽  
Linear Time Invariant ◽  
Time In Literature ◽  
The Stability ◽  
Time Invariant ◽  
Delay Space

It has been shown that the stability of LTI time-delayed systems with respect to the delays can be analyzed in two equivalent domains: (i) delay space (DS) and (ii) spectral delay space (SDS). Considering a broad class of linear time-invariant time delay systems with multiple delays, the equivalency of the stability transitions along the transition boundaries is studied in both spaces. For this we follow two corresponding radial lines in DS and SDS, and prove for the first time in literature that they are equivalent. This property enables us to extract local stability transition features within the SDS without going back to the DS. The main advantage of remaining in SDS is that, one can avoid a non-linear transition from kernel hypercurves to offspring hypercurves in DS. Instead the potential stability switching curves in SDS are generated simply by stacking a finite dimensional cube called the building block (BB) along the axes. A case study is presented within the report to visualize this property.

scholarly journals On the finite Fourier transforms of functions with infinite discontinuities

2002 ◽  
Vol 30 (5) ◽  
pp. 301-317
Author(s):  
Branko Saric
Keyword(s):  
Control Systems ◽  
Main Part ◽  
Fourier Transforms ◽  
Linear Time ◽  
Singular Control ◽  
Matrix Pencil ◽  
Integral Transforms ◽  
Linear Time Invariant ◽  
The Stability ◽  
Finite Fourier Transforms

The introductory part of the paper is provided to give a brief review of the stability theory of a matrix pencil for discrete linear time-invariant singular control systems, based on the causal relationship between Jordan's theorem from the theory of Fourier series and Laurent's theorem from the calculus of residues. The main part is concerned with the theory of the integral transforms, which has proved to be a powerful tool in the control systems theory. On the basis of a newly defined notion of the total value of improper integrals, throughout the main part of the paper, an attempt has been made to present the global theory of the integral transforms, which are slightly more general with respect to the Laplace and Fourier transforms. The paper ends with examples by which the results of the theory are verified.

Stability of Uncertain Linear Systems With Time Delay

1991 ◽  
Vol 113 (4) ◽  
pp. 558-567 ◽  
Author(s):  
K. Youcef-Toumi ◽  
J. Bobbett
Keyword(s):  
Time Delay ◽  
Linear Time ◽  
Sufficient Condition ◽  
Single Input Single Output ◽  
Time Delay Control ◽  
Linear Time Invariant ◽  
Single Output ◽  
Uncertain Dynamics ◽  
Delay Control ◽  
The Stability

The control of systems with uncertain dynamics and unpredictable disturbances has raised some challenging problems. This is particularly important when high system performance is to be guaranteed at all times. Recently, Time Delay Control has been suggested as an alternative control scheme. The proposed control system does not require an explicit plant model nor does it depend on the estimation of specific plant parameters. Rather, it combines adaptation with past observations to directly estimate the effect of the plant dynamics. This paper outlines the Time Delay Control law for a class of linear dynamic systems and then presents a sufficient condition for stability of linear uncertain systems with time delay. The ideas of Nyquist and Kharitonov are used in the development of a sufficient condition, which does not resort to using approximations for time delay. Like Nyquist, the condition depends on maps of the Nyquist path and, like Kharitonov, stability depends on four functions each yielding a stable system. In this paper we combine these ideas to determine the stability of systems where the Time Delay Controller is applied to single input single output, linear time-invariant plants whose coefficients are known to vary within certain defined intervals. The development is carried out in the context of Time Delay Control but it can be applied in more general cases. Two examples will illustrate the approach and the usefulness of the technique.

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