Second order hold and taylor series based discretization of SISO input time-delay systems

Abstract

Second order hold is a method that enables the discretization of input-driven nonlinear systems to be carried out with high precision. A new discretization scheme combining second order hold with the Taylor-series is proposed. The sampled-data representation and mathematical structure are explored. Both exact and approximate sampled-data representations are described in detail. The performance of the proposed algorithm is evaluated for three different systems. Various sampling rates, delay times and truncation orders of the Taylor-series are considered to investigate the proposed method. The results demonstrate that the proposed scheme is practical and easy to use for time-delay systems. Comparisons between the second, first and zero orders are given to show the advantages of the proposed method.

Design of Passivity Tele-Operation System Using Fuzzy Wave Variables

“…이 시스템을 원격제어시스템 이라고 하며, 주로봇, 종로봇, 통신채널로 구성된다 [1]. 원격제어시스템이 안정적으로 작동하기 위해서는 주로봇 과, 종로봇, 통신채널이 모두 안정해야 하지만 통신채널에 존 재하는 시간지연은 전체 시스템을 불안정하게 하는 가장 큰 요인이다 [2,3]. 현재까지 시간지연 문제를 해결하기 위해서 다양한 방법들이 제안되었다 [4][5][6][7][8].…”

Discrete-Time Approximation for Nonlinear Continuous Systems with Time Delays

“…The effect of this approach on system theoretic properties of nonlinear systems, such as equilibrium properties, relative order, stability, zero dynamics, and minimum phase characteristics has also been studied [20,16] and reveals the natural and transparent manner in which Taylor methods permeate the www.ijacsa.thesai.org relevant theoretical aspects. A certainly not exhaustive sample of other approaches of notable significance, yet with certain associated practical limitations, are reported in [18], and solid theoretical results on the direct use of discrete time approximations in the control of sampled-data nonlinear systems can be found in [14,22].…”

Comparison study of the Taylor series based discretization method for nonlinear input-delay systems

“…Typical examples of time-delay systems are communication networks, chemical processes, teleoperation systems, biosystems, underwater vehicles and so on [1] [2] [13].…”

“…This function is defined by different order hold assumptions which will be shown below. The time-delay D can also be expressed as, D (q + ô)T qT+r (2) where q e {0,1,2,...} , <5e(0,1) and0<^<T .From(2), we get γ δT…”