PID stabilization of a class of time delay systems

In this paper we use the Hermite-Biehler theorem to establish results for the design of proportional plus integral plus derivative (PID) controllers concerning a class of time delay systems. Using the property of interlacing at high frequencies of the class of systems considered and linear programming we obtain the set of all stabilizing PID controllers. © 2005 IEEE.

Inverted decoupling internal model control for square stable multivariable time delay systems

This paper presents a new tuning methodology of the main controller of an internal model control structure for n×n stable multivariable processes with multiple time delays based on the centralized inverted decoupling structure. Independently of the system size, very simple general expressions for the controller elements are obtained. The realizability conditions are provided and the specification of the closed-loop requirements is explained. A diagonal filter is added to the proposed control structure in order to improve the disturbance rejection without modifying the nominal set-point response. The effectiveness of the method is illustrated through different simulation examples in comparison with other works.

Method for computing state transformations of time-delay systems

This study provides a systematic method for deriving state transformations of a class of time-delay systems with multiple output. The significance of this study is that such state transformations can be used to transform timedelay systems into new coordinates where all the time-delay terms in the system description are associated with the output and input only. Therefore, in the new coordinate system, a Luenberger-type state observer can be readily designed. Subsequently, of the three possible versions of the original state vector, namely, instantaneous, delayed, and a mixed of instantaneous and delayed, a state observer which estimates one of these versions can be obtained. This new finding allows the authors to design state observers for a wider class of time-delay systems. Conditions for the existence of such coordinate changes and an effective algorithm for computing them are provided in this study. A numerical example and simulation results are given to illustrate the simplicity and effectiveness of the proposed method.

Refined Jensen-based inequality approach to stability analysis of time-delay systems

© 2015 The Institution of Engineering and Technology. In this study, the authors derive some new refined Jensen-based inequalities, which encompass both the Jensen inequality and its most recent improvement based on the Wirtinger integral inequality. The potential capability of this approach is demonstrated through applications to stability analysis of time-delay systems. More precisely, by using the newly derived inequalities, they establish new stability criteria for two classes of time-delay systems, namely discrete and distributed constant delays systems and interval time-varying delay systems. The resulting stability conditions are derived in terms of linear matrix inequalities, which can be efficiently solved by various convex optimisation algorithms. Numerical examples are given to show the effectiveness and least conservativeness of the results obtained in this study.

Linear functional observers with guaranteed ε-convergence for discrete time-delay systems with input/output disturbances

The problem of designing linear functional observers for discrete time-delay systems with unknown-but-bounded disturbances in both the plant and the output is considered for the first time in this paper. A novel approach to design a minimum-order observer is proposed to guarantee that the observer error is ϵ-convergent, which means that the estimate converges robustly within an ϵ-bound of the true state. Conditions for the existence of this observer are first derived. Then, by utilising an extended Lyapunov-Krasovskii functional and the free-weighting matrix technique, a sufficient condition for ϵ-convergence of the observer error system is given. This condition is presented in terms of linear matrix inequalities with two parameters needed to be tuned, so that it can be efficiently solved by incorporating a two-dimensional search method into convex optimisation algorithms to obtain the smallest possible value for ϵ. Three numerical examples, including the well-known single-link flexible joint robotic system, are given to illustrate the feasibility and effectiveness of our results.

Functional observer-based fault detection of time-delay systems via an LMI approach

This paper presents a novel residual generator that uses minimum-order functional observers to trigger actuator and component faults in time-delay systems. We first present a fault detection scheme and derive existence conditions of the residual generator and functional observer. The observer and residual parameters are then systematically determined via solving some coupled generalized Sylvester matrix equations. To deal with the time-delay issue, a stabilizability condition expressed in terms of linear matrix inequality (LMI) is derived to ensure the time-delay observer error system converges to zero with a prescribed convergence rate. Our design approach has the advantage that the designed fault detection scheme has lower order than existing results in the literature. Two numerical examples are given to illustrate the effectiveness of our results.

Non-linear observer design for a class of singular time-delay systems with Lipschitz non-linearities

In this paper, we consider a class of time-delay singular systems with Lipschitz non-linearities. A method of designing full-order observers for the systems is presented which can handle non-linearities with large-Lipschitz constants. The Lipschitz conditions are reformulated into linear parameter varying systems, then the Lyapunov–Krasovskii approach and the convexity principle are applied to study stability of the new systems. Furthermore, the observers design does not require the assumption of regularity for singular systems. In case the systems are non-singular, a reduced-order observers design is proposed instead. In both cases, synthesis conditions for the observers designs are derived in terms of linear matrix inequalities which can be solved efficiently by numerical methods. The efficiency of the obtained results is illustrated by two numerical examples.

Stability analysis of a general family of nonlinear positive discrete time-delay systems

In this paper, we propose a new approach to analyse the stability of a general family of nonlinear positive discrete time-delay systems. First, we introduce a new class of nonlinear positive discrete time-delay systems, which generalises some existing discrete time-delay systems. Second, through a new technique that relies on the comparison and mathematical induction method, we establish explicit criteria for stability and instability of the systems. Three numerical examples are given to illustrate the feasibility of the obtained results.

An LMI-based functional estimation scheme of large-scale time-delay systems with strong interconnections

In this paper, the problem of distributed functional state observer design for a class of large-scale interconnected systems in the presence of heterogeneous time-varying delays in the interconnections and the local state vectors is considered. The resulting observer scheme is suitable for strongly coupled subsystems with multiple time-varying delays, and is shown to give better results for systems with very strong interconnections while only some mild existence conditions are imposed. A set of existence conditions are derived along with a computationally simple observer constructive procedure. Based on the Lyapunov-Krasovskii functional method (LKF) in the framework of linear matrix inequalities (LMIs), delay-dependent conditions are derived to obtain the observer parameters ensuring the exponential convergence of the observer error dynamics. The effectiveness of the obtained results is illustrated and tested through a numerical example of a three-area interconnected system.

Exponential stability of time-delay systems via new weighted integral inequalities

In this paper, new weighted integral inequalities (WIIs) are first derived based on Jensen's integral inequalities in single and double forms. It is theoretically shown that the newly derived inequalities in this paper encompass both the Jensen inequality and its most recent improvement based on Wirtinger's integral inequality. The potential capability of WIIs is demonstrated through applications to exponential stability analysis of some classes of time-delay systems in the framework of linear matrix inequalities (LMIs). The effectiveness and least conservativeness of the derived stability conditions using WIIs are shown by various numerical examples.

New finite-sum inequalities with applications to stability of discrete time-delay systems

This paper is concerned with the problem of stability analysis of discrete time-delay systems. New finite-sum inequalities, which encompass the ones based on Abel lemma or Wirtinger type inequality, are first proposed. The potential capability of the newly derived inequalities is then demonstrated by establishing less conservative stability conditions for some classes of linear discrete-time systems with delay. The derived stability criteria are theoretically and numerically proved to be less conservative than existing results.

Componentwise ultimate bounds for positive discrete time-delay systems perturbed by interval disturbances

This paper presents a method to derive componentwise ultimate upper bounds and componentwise ultimate lower bounds for linear positive systems with time-varying delays and bounded disturbances. The disturbance vector is assumed to vary within a known interval whose lower bound may be different from zero. We first derive a sufficient condition for the existence of componentwise ultimate bounds. This condition is given in terms of the spectral radius of the system matrices which is easy to check and allows us to compute directly both the smallest componentwise ultimate upper bound and the largest componentwise ultimate lower bound. Then, by using the comparison method, we extend the obtained result to a class of nonlinear time-delay systems which has linear positive bounds. Two numerical examples are given to illustrate the effectiveness of the obtained results.

Functional state observers design for interconnected time-delay systems

His research contributes to the field of functional state estimation for interconnected time-delay systems. Through progressive improvements and refinements, these developed observer structures have practical application for industry and more widely in the engineering field.

Partial state estimation of time-delay systems.

This thesis broadly studies three crucial and rigorous inter-related control theoretical subjects: (i) Partial state estimation of linear systems; (ii) Stability analysis of time-delay systems with interval time-varying delays; and (iii) Functional observer design for time-delay systems.