Rational Implementation of Distributed Delay Using Extended Bilinear Transformations

Based on an extension of the bilinear transformation, a rational implementation for distributed delay in linear control laws is proposed. This implementation converges much faster than the rational implementation inspired from the δ-operator. The implementation has an elegant structure of chained bi-proper nodes cascaded with a strictly proper node. The stability of each node is determined by the choice of the total number N of the nodes. The H-norm of the implementation error approaches 0 when N goes to ∞ and hence the stability of the closed-loop system can be guaranteed. In addition, the steady-state performance of the system is retained. Simulation examples are given to verify the results and to show comparative study with other implementations. Copyright c ©2005 IFAC