Abstract. In teleoperation tasks, communication delays between master and slave sides negatively affect the stability and transparency of closed loop system, and make it difficult to maintain a desired contact force. In order to improve the performance of contact force control in teleoperation under large time delays, a shared compliant control method is proposed in this paper. On the master si...

This note puts forward a parametrization of all stabilizing two-degree-of-freedom (2DOF) controllers for (possibly unstable) processes with dead-time. The proposed parametrization is based on a doubly coprime factorization of the plant and takes the form of a generalized Smith predictor (dead-time compensator) feedback part and a finitedimensional feedforward part (prefilter). Some alternative ...

A new method for robust fixed-order H∞ controller design for uncertain time-delayed MIMO systems is presented. It is shown that the H∞ robust performance condition can be represented by a set of convex constraints with respect to the parameters of a linearly parameterized primary controller in the Smith predictor structure. Therefore, the parameters of the primary controller can be obtained by ...

A wealth of knowledge and research results exist for control of systems with state delays and input delays. Problems with long input delays, for unstable plants, represent a particular challenge. In fact, they were the first challenge to be dealt with, in Otto J. M. Smith’s article (Smith, 1959), where a compensator, now known as the Smith predictor, was introduced five decades ago. The Smith p...

In this paper, we present a study of the destabilizing effects of delay in communications networks. We the apply results from a companion paper to find the range of delays for which a Smith predictor controller guarantees the stability of an ATM/ABR network.

In this article we consider the cerebellum in the vertebrate motor control system. Analyzing the delays in this control loop as well as the complexity of the dynamics of the skeletomuscular system, we £nd that two well-known interpretations of the function of the cerebellum—that of a Smith predictor, or of an inverse model controller—are insuf£cient to solve the control problem at hand.

A new method for robust fixed-order H∞ controller design for uncertain time-delay systems is presented. It is shown that the H∞ robust performance condition can be represented by a set of convex constraints with respect to the parameters of a linearly parameterized primary controller in the Smith predictor structure. Systems with uncertain dead-time and with multimodel and frequency-domain unce...

The paper proposes a paradigm for control design suitable for poorly modeled plants with signi cant dead time An adaptive dead time compensator is developed which is substantially dif ferent to the standard Smith predictor and more generally applicable in practice A framework is developed for selecting the controller parameters using now stan dard design techniques such as synthesis It is argue...

This research creates a design methodology by synthesizing the Theory of Inventive Problem Solving (TRIZ) and cascade control based on Smith predictor. The particleboard glue supplying and dosing system case study defines the problem and the solution using the methodology proposed in the paper. Status difference existing in the gluing dosing process of particleboard production usually causes gl...

In the ice cream industry, the type of final desired product (large cartons (sqrounds) or ice creams on a stick) determine the viscosity at which the ice cream has to be produced. One of the objectives of the ice cream crystallization processes is therefore to produce an ice cream of specified viscosity. In this paper, a nonlinear control strategy is proposed for the control of the viscosity of...