This paper presents the analysis of the stability properties of PID controllers for dynamical systems with multiple state delays, focusing on the mathematical characterization of the potential sensitivity of stability with respect to infinitesimal parametric perturbations. These perturbations originate for instance from neglecting feedback delay, a finite difference approximation of the derivative action, or neglecting fast dynamics. The analysis of these potential sensitivity problems leads us to the introduction of a 'robustified' notion of stability called strong stability, inspired by the corresponding notion for neutral functional differential equations. We prove that strong stability can be achieved by adding a low-pass filter with a sufficiently large cut-off frequency to the control loop, on the condition that the filter itself does not destabilize the nominal closed-loop system. Throughout the paper, the theoretical results are illustrated by examples that can be analyzed analytically, including, among others, a third-order unstable system where both proportional and derivative control action are necessary for achieving stability, while the regions in the gain parameter-space for stability and strong stability are not identical. Besides the analysis of strong stability, a computational procedure is provided for designing strongly stabilizing PID controllers. Computational case-studies illustrating this design procedure complete the presentation.

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This paper provides a mathematical characterization of the robust (strong) H-infinity norm of an uncertain linear time-invariant system with discrete delays in terms of the robust distance to instability of an associated characteristic matrix. The considered class of uncertainties consists of real-valued, structured, Frobenius norm-bounded matrix uncertainties that act on the coefficient matrices. The robust H-infinity norm, defined as the worst-case value of the H-infinity norm over all admissible uncertainty values, is an important measure of robust performance to quantify the worst-case disturbance rejection of an uncertain dynamical system. For the considered system class, this robust H-infinity norm is however a fragile measure, as for a particular instance of the uncertainties, the H-infinity norm might be sensitive to arbitrarily small perturbations on the delays. Therefore, we introduce the robust strong H-infinity norm, inspired by the notion of strong stability of delay differential equations of neutral type, which takes into account both the uncertainties on the system matrices and infinitesimal delay perturbations. This quantity is a continuous function of both the elements of the system matrices and the delays. The main contribution of this work is the introduction of a relation between this robust strong H-infinity norm and the robust distance to instability of an associated characteristic matrix. This relation is subsequently employed in a novel algorithm for computing the robust strong H-infinity norm of uncertain time-delay systems.

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