Jian Zhang and Yongpeng Zhang
Delay systems, digital control, nonlinear systems, state space methods
This paper presents the digital controller design for nonlinear system with random delay. First, the delay-free nonlinear system is lin- earized through optimal linearization. Then, based on this optimal linear model, an analog state-feedback controller is designed via lin- ear quadratic regulation (LQR) to achieve a satisfactory performance in the delay-free case. Lastly, an input delay compensation tech- nique via digital redesign is applied. The resulting digital controller can maintain the essential performance of the analog counterpart in the presence of random input delay, and also possesses the features practical for implementation, like large control period and small control signal in the transient. The proposed method is veriļ¬ed by the simulation results on the balance control of single rotary inverted pendulum (SRIP) as well as the physical experiments.
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