TPτ Model Transformation for Systems Including Time Delay

  • Péter Baranyi


The TP τ model transformation is essentially a special application of TP I that can be used in control problems relevant to systems with time-delay. Due to the practical importance of such systems, this chapter focuses specifically on TP τ and its use in qLPV models. We will see that this allows for a large class of LMI based design theories originally developed for qLPV models to be extended towards the domain of time-delay systems, thus providing an important gateway between these different control fields. The contents of this chapter are based on the work of Galambos et al. [1, 2, 3].


TP tau model transfromation Time delay 


  1. 1.
    P. Galambos, P. Baranyi, Representing the model of impedance controlled robot interaction with feedback delay in polytopic LPV form: TP model transformation based approach. Acta Polytech. Hung. 10(1), 139–157 (2013)Google Scholar
  2. 2.
    P. Galambos, P. Baranyi, TP-tau model transformation: a systematic modelling framework to handle internal time delays in control systems. Asian J. Control 17(2), 486–496 (2015)MathSciNetCrossRefzbMATHGoogle Scholar
  3. 3.
    P. Galambos, P. Baranyi, G. Arz, Tensor product model transformation-based control design for force reflecting tele-grasping under time delay. Proc. Inst. Mech. Eng. C J. Mech. Eng. Sci. 228(4), 765–777 (2014)CrossRefGoogle Scholar
  4. 4.
    L.F. Shampine, P. Gahinet, Delay-differential-algebraic equations in control theory. Appl. Numer. Math. 56(3), 574–588 (2006)MathSciNetCrossRefzbMATHGoogle Scholar

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Péter Baranyi
    • 1
  1. 1.Technology and EconomicsSzecheny Istvan University and Budapest Univerity of Technology and EconomicsBudapestHungary

Personalised recommendations