Optimization of digital control with delay by periodic variation of the gain parameters

Abstract The effect of periodic gain variation on the stability and robustness of digitally position controlled machines is investigated. Time delay and sampling effect of the control are included in the model. A discrete map is constructed that describes the dynamics of the digitally controlled system. The destabilizing effect of the time delay is shown by numerical examples. In order to improve stability properties, the control gains are varied according to the act and wait principle: they are switched between a constant value (act) and zero (wait). It is shown that the act and wait method leads to significant improvements in stability and also decreases the position error.

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