Abstract
We present a discrete-time prediction based state-feedback controller. It is shown that this controller stabilizes possibly unstable continuous-time delay systems. The stability is shown to be robust with respect uncertainties in the knowledge on the plant parameters, the system delay and the sampling period. The proposed prediction based controller has been tested in a real-time application to control the yaw angular displacement of a 4-rotor mini-helicopter.
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Lozano, R., Gil, P.G., Castillo, P., Dzul, A. (2004). Robust Prediction-Dased Control for Unstable Delay Systems. In: Niculescu, SI., Gu, K. (eds) Advances in Time-Delay Systems. Lecture Notes in Computational Science and Engineering, vol 38. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-18482-6_23
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DOI: https://doi.org/10.1007/978-3-642-18482-6_23
Publisher Name: Springer, Berlin, Heidelberg
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