PREDICTIVE COMPENSATION OF TIME-VARYING COMPUTING DELAY ON REAL-TIME CONTROL-SYSTEMS

Computing time delay may have greatly degrading effects on control sys tem performance. The effects of nonzero computing delay can be classif ied as delay or loss problems. This delay problem occurs when the time -varying computing delay is less than the constant sampling interval, and the loss problem exists when the computing delay is greater than t he sampling interval. In this letter, we propose a nearly allpass narr ow-band predictor to be used as a predictive compensator of the comput ing delay. The presented add-on prediction scheme is practical when th e output of the controller can be approximated by a piecewise low-degr ee polynomial. An illustrative design example is presented, demonstrat ing the predictor's performance.