Position control of a single body is considered with delayed discrete feedback. The act-and-wait control concept is applied: the feedback gains are constant for a sampling period (act), then they are zero for a certain number of periods (wait), then they are constant again, etc. Stability of the system is investigated for different act-and-wait periods. It is shown that if the period of gain variation is larger than the feedback delay, then the system performance changes radically. Stability, rate of decay and robustness issues are discussed.
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Stépán, G., Insperger, T. (2007). Robust Time-Periodic Control of Time-Delayed Systems. In: Hu, H.Y., Kreuzer, E. (eds) Iutam Symposium on Dynamics and Control of Nonlinear Systems with Uncertainty. IUTAM Book Series, vol 2. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-6332-9_35
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DOI: https://doi.org/10.1007/978-1-4020-6332-9_35
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-6331-2
Online ISBN: 978-1-4020-6332-9
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