title: Velocity control of servo systems using an integral retarded algorithm.
abstract: This paper presents a design technique for the delay-based controller called Integral Retarded (IR), and its applications to velocity control of servo systems. Using spectral analysis, the technique yields a tuning strategy for the IR by assigning a triple real dominant root for the closed-loop system. This result ultimately guarantees a desired exponential decay rate σ(d) while achieving the IR tuning as explicit function of σ(d) and system parameters. The intentional introduction of delay allows using noisy velocity measurements without additional filtering. The structure of the controller is also able to avoid velocity measurements by using instead position information. The IR is compared to a classical PI, both tested in a laboratory prototype.
authors.affiliation: Department of Automatic Control, CINVESTAV-IPN, México, DF 07360, Mexico. Electronic address: aramirez@ctrl.cinvestav.mx.
authors.forename: Adrián
authors.initials: A
authors.lastname: Ramírez
authors.affiliation: Department of Automatic Control, CINVESTAV-IPN, México, DF 07360, Mexico. Electronic address: garrido@ctrl.cinvestav.mx.
authors.forename: Rubén
authors.initials: R
authors.lastname: Garrido
authors.affiliation: Department of Automatic Control, CINVESTAV-IPN, México, DF 07360, Mexico. Electronic address: smondie@ctrl.cinvestav.mx.
authors.forename: Sabine
authors.initials: S
authors.lastname: Mondié
keywords: IR control; Noise attenuation; Pole placement; Servo systems; Time delay systems