Hs. Jeong et Cw. Lee, TIME-DELAY CONTROL WITH STATE-FEEDBACK FOR AZIMUTH MOTION OF THE FRICTIONLESS POSITIONING DEVICE, IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2(3), 1997, pp. 161-168
A time delay controller with state feedback is proposed for azimuth mo
tion control of the frictionless positioning device which is subject t
o the variations of inertia in the presence of measurement noise, The
time delay controller, which is combined with a low-pass filter to att
enuate the effect of measurement noise, ensures the asymptotic stabili
ty of the closed-loop system, It is found that the low-pass filter ten
ds to increase the robustness in the design of the time delay controll
er, as well as the gain and phase margins of the closed-loop system, N
umerical and experimental results support that the proposed controller
guarantees a good tracking performance, irrespective of the variation
of inertia and the presence of measurement noise.