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Автор: Grafiati

Опубліковано: 15 червня 2024

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1

Iftar, Altug. "Robust Tracking and Disturbance Rejection for Decentralized Neutral Distributed-time-delay Systems." WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL 18 (October 17, 2023): 307–15. http://dx.doi.org/10.37394/23203.2023.18.31.

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An important problem in control engineering is to design a controller to achieve robust asymptotic tracking of certain reference signals despite certain disturbance inputs. In the present work, this problem, which is known as the robust servomechanism problem, is considered for decentralized linear time-invariant (LTI) neutral systems with distributed time-delay. However, the system is also allowed to have discrete time-delays besides distributed time-delays. The reference signals and the disturbance input are assumed to satisfy a LTI neutral delay-differential equation with distributed and/or discrete time-delays. The necessary and sufficient conditions for the existence of a controller which solves this problem are derived. The structure of this controller (when it exists) is also presented.

2

Olgac, Nejat, Ali Fuat Ergenc, and Rifat Sipahi. "“Delay Scheduling”: A New Concept for Stabilization in Multiple Delay Systems." Journal of Vibration and Control 11, no. 9 (September 2005): 1159–72. http://dx.doi.org/10.1177/1077546305055777.

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A trajectory-tracking problem is considered for a linear time invariant (LTI) dynamics with a fixed control law. However, the feedback line is affected by multiple time delays. The stability of the dynamics becomes a complex problem. It is well known that time-delayed LTI systems may exhibit multiple stable operating zones (which we call pockets) in the space of the delays. Our aim in this paper is to locate and experimentally validate these pockets. For the analytical determination of the pockets we utilize a new methodology, the cluster treatment of characteristic roots (CTCR). The study results in several interesting conclusions. (i) The systems may exhibit better control performance (for instance, faster disturbance rejection) for larger time delays. (ii) Consequently, we propose a unique and interesting utilization of the time delays as agents to enhance the control performance, the delay scheduling technique.

3

Sipahi, Rifat, and Nejat Olgac. "Kernel and Offspring Concepts for the Stability Robustness of Multiple Time Delayed Systems (MTDS)." Journal of Dynamic Systems, Measurement, and Control 129, no. 3 (August 21, 2006): 245–51. http://dx.doi.org/10.1115/1.2718235.

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A novel treatment for the stability of linear time invariant (LTI) systems with rationally independent multiple time delays is presented in this paper. The independence of delays makes the problem much more challenging compared to systems with commensurate time delays (where the delays have rational relations). We uncover some wonderful features for such systems. For instance, all the imaginary characteristic roots of these systems can be found exhaustively along a set of surfaces in the domain of the delays. They are called the “kernel” surfaces (curves for two-delay cases), and it is proven that the number of the kernel surfaces is manageably small and bounded. All possible time delay combinations, which yield an imaginary characteristic root, lie either on this kernel or its infinitely many “offspring” surfaces. Another hidden feature is that the root tendencies along these surfaces exhibit an invariance property. From these outstanding characteristics an efficient, exact, and exhaustive methodology results for the stability assessment. As an added uniqueness of this method, the systems under consideration do not have to be stable for zero delays. Several example case studies are presented, which are prohibitively difficult, if not impossible to solve using any other peer methodology known to the authors.

4

Kao, C. Y. "On Robustness of Discrete-Time LTI Systems with Varying Time Delays." IFAC Proceedings Volumes 41, no. 2 (2008): 12336–41. http://dx.doi.org/10.3182/20080706-5-kr-1001.02088.

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5

Kao, Chung-Yao. "On Stability of Discrete-Time LTI Systems With Varying Time Delays." IEEE Transactions on Automatic Control 57, no. 5 (May 2012): 1243–48. http://dx.doi.org/10.1109/tac.2011.2174681.

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6

Gao, Qingbin, and Nejat Olgac. "Dixon Resultant for Cluster Treatment of LTI Systems with Multiple Delays." IFAC-PapersOnLine 48, no. 12 (2015): 21–26. http://dx.doi.org/10.1016/j.ifacol.2015.09.347.

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7

Mohajerpoor, Reza, Hamid Abdi, Lakshmanan Shanmugam, and Saeid Nahavandi. "Partial state estimation of LTI systems with multiple constant time-delays." Journal of the Franklin Institute 353, no. 2 (January 2016): 541–60. http://dx.doi.org/10.1016/j.jfranklin.2015.11.011.

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8

Mesbahi, Afshin, and Mohammad Haeri. "Stable regions in the parameter space of delays for LTI fractional-order systems with two delays." Signal Processing 107 (February 2015): 415–24. http://dx.doi.org/10.1016/j.sigpro.2014.03.012.

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9

Deng, Yang, Vincent Lechappe, Emmanuel Moulay, and Franck Plestan. "Predictor-Based Control of LTI Remote Systems With Estimated Time-Varying Delays." IEEE Control Systems Letters 5, no. 1 (January 2021): 289–94. http://dx.doi.org/10.1109/lcsys.2020.3001671.

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10

Alikoc, Baran, and Ali Fuat Ergenc. "A Polynomial Method for Stability Analysis of LTI Systems Independent of Delays." SIAM Journal on Control and Optimization 55, no. 4 (January 2017): 2661–83. http://dx.doi.org/10.1137/16m1077726.

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11

Tsubakino, Daisuke, Miroslav Krstic, and Tiago Roux Oliveira. "Exact predictor feedbacks for multi-input LTI systems with distinct input delays." Automatica 71 (September 2016): 143–50. http://dx.doi.org/10.1016/j.automatica.2016.04.047.

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12

Lampe, Bernhard P., and Efim N. Rosenwasser. "Periodized characteristic equation and stability analysis of LTI systems with several delays*." IFAC Proceedings Volumes 45, no. 14 (June 2012): 161–66. http://dx.doi.org/10.3182/20120622-3-us-4021.00009.

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13

Ergenc, Ali Fuat, Nejat Olgac, and Hassan Fazelinia. "Extended Kronecker Summation for Cluster Treatment of LTI Systems with Multiple Delays." SIAM Journal on Control and Optimization 46, no. 1 (January 2007): 143–55. http://dx.doi.org/10.1137/06065180x.

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14

Hahn, Jannik, and Olaf Stursberg. "Uncertain AoI in stochastic optimal control of constrained LTI systems." at - Automatisierungstechnik 70, no. 4 (March 25, 2022): 343–54. http://dx.doi.org/10.1515/auto-2021-0125.

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Abstract This paper addresses finite-time horizon optimal control of control structures with shared communication network. To cope with the uncertainties, induced by network imperfections and exogenous disturbances at the same time, an optimization-based control scheme is proposed. It uses a disturbance feedback and the Age of Information (AoI), a receiver-based measure of communication delays, as central aspects. The disturbance feedback is an extension of the control law used for balanced stochastic optimal control. Balanced optimality is understood as a compromise between minimizing expected deviations from the reference and the minimization of the uncertainty of future states. Time-varying state constraints as well as time-invariant input constraints are considered, and the controllers are synthesized by semi-definite programming.

15

Léchappé, V., E. Moulay, and F. Plestan. "Prediction-based control of LTI systems with input and output time-varying delays." Systems & Control Letters 112 (February 2018): 24–30. http://dx.doi.org/10.1016/j.sysconle.2017.12.006.

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16

Mai, Tao, and Yannis Tsividis. "Internally Non-LTI Systems Based on Delays, With Application to Companding Signal Processors." IEEE Transactions on Circuits and Systems II: Express Briefs 59, no. 8 (August 2012): 476–80. http://dx.doi.org/10.1109/tcsii.2012.2204113.

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17

Ortega-Montiel, T., R. Villafuerte-Segura, C. Vázquez-Aguilera, and L. Freidovich. "Proportional Retarded Controller to Stabilize Underactuated Systems with Measurement Delays: Furuta Pendulum Case Study." Mathematical Problems in Engineering 2017 (2017): 1–12. http://dx.doi.org/10.1155/2017/2505086.

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The design and tuning of a simple feedback strategy with delay to stabilize a class of underactuated mechanical systems with dead time are presented. A linear time-invariant (LTI) model with time delay of fourth order and a Proportional Retarded (PR) controller are considered. The PR controller is shown as an appealing alternative to the application of observer-based controllers. This paper gives a step forward to obtain a better understanding of the effect of output delays and related phenomena in mechatronic systems, making it possible to design resilient control laws under the presence of uncertain time delays in measurements and obtain an acceptable performance without using a derivative action. The Furuta pendulum is a standard two-degrees-of-freedom benchmark example from the class of underactuated mechanical systems. The configuration under study includes an inherent output delay due to wireless communication used to transmit measurements of the pendulum’s angular position. Our approach offers a constructive design and a procedure based on a combination of root loci and Mikhailov methods for the analysis of stability. Experiments over a laboratory platform are reported and a comparison with a standard linear state feedback control law shows the advantages of the proposed scheme.

18

Wang, Zhenhuan, Zeyu Song, and Qingshuang Zeng. "A New Iterative Learning Control With Time Delays for LTI Systems in Frequency Domain." IEEE Access 7 (2019): 13355–63. http://dx.doi.org/10.1109/access.2019.2892720.

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19

Zhu, Yang, Miroslav Krstic, and Hongye Su. "PDE Boundary Control of Multi-Input LTI Systems With Distinct and Uncertain Input Delays." IEEE Transactions on Automatic Control 63, no. 12 (December 2018): 4270–77. http://dx.doi.org/10.1109/tac.2018.2810038.

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20

Delgado, Emma, Miguel Díaz-Cacho, and Antonio Barreiro. "Stability of Teleoperation Systems for Time-Varying Delays by Neutral LMI Techniques." Mathematical Problems in Engineering 2012 (2012): 1–17. http://dx.doi.org/10.1155/2012/467629.

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This paper investigates the delay-dependent stability of a teleoperation system based on the transparent Generalized Four-Channel control (G-4C) scheme under time-varying communication delays. To address stability we choose here a primitive result providing a Linear Matrix Inequalities (LMIs) approach based on Lyapunov-Krasovskii functionals. Firstly, the scheme is modeled as the neutral-type differential-delayed equation; that is, the delay affects not only the state but also the state derivative. Secondly, we apply a less conservative stability criteria based on LMIs that are delay dependent and delay's time-derivative dependent. The reason is that, for better performance in the case of small delays, we must accept the possibility that stability is lost for large delays. The approach is applied to an example, and its advantages are discussed. As a result, we propose to modify the values of standard controllers in G-4C defining theμ-4C scheme, which introduces a tuning factorμto increase in practical conditions the stable region fixing the desired bounds on time-varying delay, with the particularity of maintaining the tracking properties provided by this transparent control scheme. The simulation results justify the proposed control architecture and confirm robust stability and performance.

21

Belhaj, Wajdi, and Olfa Boubaker. "MIMO PI Controllers for LTI Systems with Multiple Time Delays Based on ILMIs and Sensitivity Functions." Mathematical Problems in Engineering 2017 (2017): 1–25. http://dx.doi.org/10.1155/2017/1241545.

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In this paper, a MIMO PI design procedure is proposed for linear time invariant (LTI) systems with multiple time delays. The controller tuning is established in two stages and guarantees performances for set-point changes, disturbance variations, and parametric uncertainties. In the first stage, an iterative linear matrix inequality (ILMI) approach is extended to design PI controllers for systems with multiple time delays without performance guarantee, a priori. The second stage is devoted to improve the closed-loop performances by minimizing sensitivity functions. Simulations results carried out on the unstable distillation column, the stable industrial scale polymerization (ISP) reactor, and the non-minimum phase 4-tank benchmark prove the efficiency of the proposed approach. A comparative analysis with the conventional internal model control (IMC) approach, a multiloop IMC-PI approach, and a previous ILMI PID approach proves the superiority of the proposed approach compared to the related ones.

22

Hetel, L., J. Daafouz, M. Jungers, and J. P. Richard. "Delay-dependent sampled-data control of LTI systems." IFAC Proceedings Volumes 43, no. 19 (2010): 37–42. http://dx.doi.org/10.3182/20100913-2-fr-4014.00033.

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23

Li, Xu-Guang, Silviu-Iulian Niculescu, Arben Cela, Hong-Hai Wang, and Tiao-Yang Cai. "On Computing Puiseux Series for Multiple Imaginary Characteristic Roots of LTI Systems With Commensurate Delays." IEEE Transactions on Automatic Control 58, no. 5 (May 2013): 1338–43. http://dx.doi.org/10.1109/tac.2012.2226102.

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24

Ergenc, Ali Fuat, and Nejat Olgac. "EXTENDED KRONECKER SUMMATION FOR DETERMINING THE KERNEL AND OFFSPRING OF LTI SYSTEMS WITH MULTIPLE DELAYS." IFAC Proceedings Volumes 39, no. 10 (2006): 157–62. http://dx.doi.org/10.3182/20060710-3-it-4901.00026.

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25

Léchappé, V., E. Moulay, and F. Plestan. "Prediction-based control for LTI systems with uncertain time-varying delays and partial state knowledge." International Journal of Control 91, no. 6 (May 2, 2017): 1403–14. http://dx.doi.org/10.1080/00207179.2017.1317365.

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26

Fan, Hongbiao, Min Meng, and Jun-e. Feng. "Observers of Fuzzy Descriptor Systems with Time-Delays." Abstract and Applied Analysis 2014 (2014): 1–9. http://dx.doi.org/10.1155/2014/714518.

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For discrete fuzzy descriptor systems with time-delays, the problem of designing fuzzy observers is investigated in this paper. Based on an equivalent transformation, discrete fuzzy descriptor systems with time-delays are converted into standard discrete systems with time-delays. Then, via linear matrix inequality (LMI) approach, both delay-dependent and delay-independent conditions for the existence of fuzzy state observers are obtained. Finally, two numerical examples are provided to illustrate the proposed method.

27

Espitia, Nicolás, Drew Steeves, Wilfrid Perruquetti, and Miroslav Krstic. "Sensor delay-compensated prescribed-time observer for LTI systems." Automatica 135 (January 2022): 110005. http://dx.doi.org/10.1016/j.automatica.2021.110005.

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28

Lin-lin Ou, Wei-dong Zhang, and Li Yu. "Low-Order Stabilization of LTI Systems With Time Delay." IEEE Transactions on Automatic Control 54, no. 4 (April 2009): 774–87. http://dx.doi.org/10.1109/tac.2009.2014935.

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29

Bekiaris-Liberis, Nikolaos, Mrdjan Jankovic, and Miroslav Krstic. "Adaptive stabilization of LTI systems with distributed input delay." International Journal of Adaptive Control and Signal Processing 27, no. 1-2 (September 26, 2012): 46–65. http://dx.doi.org/10.1002/acs.2337.

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30

Il’in, A. V., E. I. Atamas, and V. V. Fomichev. "Inversion of hyperoutput time-delay systems." Доклады Академии наук 484, no. 5 (May 16, 2019): 538–41. http://dx.doi.org/10.31857/s0869-56524845538-541.

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An inversion problem for LTI hyperoutput time-delay system is considered. For such systems canonical form with isolated zero dynamics is obtained, system invariant zeros and their relation to spectral observability of zero dynamics subsystem are investigated. Using this results, inversion algorithm is suggested for time-delay systems.

31

Sipahi, R., and I. I. Delice. "On some features of core hypersurfaces related to stability switching of LTI systems with multiple delays." IMA Journal of Mathematical Control and Information 31, no. 2 (May 21, 2013): 257–72. http://dx.doi.org/10.1093/imamci/dnt010.

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32

Gao, Qingbin, and Nejat Olgac. "Stability analysis for LTI systems with multiple time delays using the bounds of its imaginary spectra." Systems & Control Letters 102 (April 2017): 112–18. http://dx.doi.org/10.1016/j.sysconle.2017.02.003.

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33

Briat, C., O. Sename, and J. F. Lafay. "Memory-resilient gain-scheduled state-feedback control of uncertain LTI/LPV systems with time-varying delays." Systems & Control Letters 59, no. 8 (August 2010): 451–59. http://dx.doi.org/10.1016/j.sysconle.2010.06.004.

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34

Yang, Xianqiang, and Hamid Reza Karimi. "Identification of LTI Time-Delay Systems with Missing Output Data Using GEM Algorithm." Mathematical Problems in Engineering 2014 (2014): 1–8. http://dx.doi.org/10.1155/2014/242145.

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This paper considers the parameter estimation for linear time-invariant (LTI) systems in an input-output setting with output error (OE) time-delay model structure. The problem of missing data is commonly experienced in industry due to irregular sampling, sensor failure, data deletion in data preprocessing, network transmission fault, and so forth; to deal with the identification of LTI systems with time-delay in incomplete-data problem, the generalized expectation-maximization (GEM) algorithm is adopted to estimate the model parameters and the time-delay simultaneously. Numerical examples are provided to demonstrate the effectiveness of the proposed method.

35

Zhong, Qing-Chang, and David Rees. "Control of Uncertain LTI Systems Based on an Uncertainty and Disturbance Estimator." Journal of Dynamic Systems, Measurement, and Control 126, no. 4 (December 1, 2004): 905–10. http://dx.doi.org/10.1115/1.1850529.

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This paper proposes a robust control strategy for uncertain LTI systems. The strategy is based on an uncertainty and disturbance estimator (UDE). It brings similar performance as the time-delay control (TDC). The advantages over TDC are: (i) no delay is introduced into the system; (ii) there are no oscillations in the control signal; and (iii) there is no need of measuring the derivatives of the state vector. The robust stability of LTI-SISO systems is analyzed, and simulations are given to show the effectiveness of the UDE-based control with a comparison made with TDC.

36

Sujitjorn, Sarawut, and Witchupong Wiboonjaroen. "State-PID Feedback for Pole Placement of LTI Systems." Mathematical Problems in Engineering 2011 (2011): 1–20. http://dx.doi.org/10.1155/2011/929430.

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Pole placement problems are especially important for disturbance rejection and stabilization of dynamical systems and regarded as algebraic inverse eigenvalue problems. In this paper, we propose gain formulae of state feedback through PID-elements to achieve desired pole placement for a delay-free LTI system with single input. Real and complex stable poles can be assigned with the proposed compact gain formulae. Numerical examples show that our proposed gain formulae can be used effectively resulting in very satisfactory responses.

37

Zhu, Yang, Miroslav Krstic, and Hongye Su. "PDE output feedback control of LTI systems with uncertain multi-input delays, plant parameters and ODE state." Systems & Control Letters 123 (January 2019): 1–7. http://dx.doi.org/10.1016/j.sysconle.2018.10.012.

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38

Gao, Qingbin, and Nejat Olgac. "Bounds of imaginary spectra of LTI systems in the domain of two of the multiple time delays." Automatica 72 (October 2016): 235–41. http://dx.doi.org/10.1016/j.automatica.2016.05.011.

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39

Pekar, Libor, and Qingbin Gao. "Spectrum Analysis of LTI Continuous-Time Systems With Constant Delays: A Literature Overview of Some Recent Results." IEEE Access 6 (2018): 35457–91. http://dx.doi.org/10.1109/access.2018.2851453.

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40

Tan, Kok Kiong, Shao Zhao, Sunan Huang, Tong Heng Lee, and Arthur Tay. "A new repetitive control for LTI systems with input delay." Journal of Process Control 19, no. 4 (April 2009): 711–16. http://dx.doi.org/10.1016/j.jprocont.2008.07.004.

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41

Dou, Chun-xia, Zhi-sheng Duan, Xing-bei Jia, Xiao-gang Li, Jin-zhao Yang, Ting Gui, and Ye-fei Bi. "Delay-Dependent Robust Stabilization for Nonlinear Large Systems via Decentralized Fuzzy Control." Mathematical Problems in Engineering 2011 (2011): 1–20. http://dx.doi.org/10.1155/2011/605794.

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Анотація:

A delay-dependent robust fuzzy control approach is developed for a class of nonlinear uncertain interconnected time delay large systems in this paper. First, an equivalent T–S fuzzy model is extended in order to accurately represent nonlinear dynamics of the large system. Then, a decentralized state feedback robust controller is proposed to guarantee system stabilization with a prescribedH∞disturbance attenuation level. Furthermore, taking into account the time delays in large system, based on a less conservative delay-dependent Lyapunov function approach combining with linear matrix inequalities (LMI) technique, some sufficient conditions for the existence ofH∞robust controller are presented in terms of LMI dependent on the upper bound of time delays. The upper bound of time-delay and minimizedH∞performance index can be obtained by using convex optimization such that the system can be stabilized and for all time delays whose sizes are not larger than the bound. Finally, the effectiveness of the proposed controller is demonstrated through simulation example.

42

Alikoç, Baran, and Ali Fuat Ergenç. "A New Delay-Independent Stability Test of LTI Systems with Single Delay." IFAC-PapersOnLine 48, no. 12 (2015): 386–91. http://dx.doi.org/10.1016/j.ifacol.2015.09.409.

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43

Feng, Wenxi, Yanshan Xie, Fei Luo, Xianyong Zhang, and Wenyong Duan. "Enhanced Stability Criteria of Network-Based Load Frequency Control of Power Systems with Time-Varying Delays." Energies 14, no. 18 (September 14, 2021): 5820. http://dx.doi.org/10.3390/en14185820.

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The stability problem for load frequency control (LFC) of power systems with two time-varying communication delays is studied in this paper. The one-area and two-area LFC systems are considered, respectively, which are modeled as corresponding linear systems with additive time-varying delays. An improved stability criterion is proposed via a modified Lyapunov-Krasovskii functional (LKF) approach. Firstly, an augmented LKF consisting of delay-dependent matrices and some single-integral items containing time-varying delay information in two different delay subintervals is constructed, which makes full use of the coupling information between the system states and time-varying delays. Secondly, the novel negative definite inequality equivalent transformation lemma is used to transform the nonlinear inequality to the linear matrix inequality (LMI) equivalently, which can be easily solved by the MATLAB LMI-Toolbox. Finally, some numerical examples are presented to show the improvement of the proposed approach.

44

Venkatesh, M., S. Patra, and G. Ray. "Design of a set of stabilizing P and PI controllers for LTI TITO system with multiple time-delays." IFAC-PapersOnLine 55, no. 1 (2022): 405–10. http://dx.doi.org/10.1016/j.ifacol.2022.04.067.

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45

Keltoum, G. "Model Reference Adaptive Controller for LTI Systems with Time-variant Delay." Engineering, Technology & Applied Science Research 10, no. 3 (June 7, 2020): 5619–26. http://dx.doi.org/10.48084/etasr.3427.

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In this paper, a new Direct Model Reference Adaptive Control Procedure (DMRAC) for Linear Time-Invariant (LTI) delay systems is presented with the use of the concept of the command generator tracker which expands the class of processes that can now be controlled with zero output error. The stability of the error between the system and the model is guaranteed by the Lyapunov theory. The new algorithm is applied to control a perturbed delay system. Matlab simulation examples are given to demonstrate the usefulness of the algorithm.

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Basturk, Halil I., and Miroslav Krstic. "Adaptive sinusoidal disturbance cancellation for unknown LTI systems despite input delay." Automatica 58 (August 2015): 131–38. http://dx.doi.org/10.1016/j.automatica.2015.05.013.

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Sipahi, Rifat, and Nejat Olgac. "Complete stability robustness of third-order LTI multiple time-delay systems." Automatica 41, no. 8 (August 2005): 1413–22. http://dx.doi.org/10.1016/j.automatica.2005.03.022.

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BAKHTIAR, T. "REGULATION LIMITS UNDER CONTROL EFFORT OF SIMO LTI SYSTEMS AND ITS EXTENSION TO DELAY-TIME SYSTEMS." Journal of Mathematics and Its Applications 5, no. 1 (July 1, 2006): 33. http://dx.doi.org/10.29244/jmap.5.1.33-42.

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<p>In this paper, we investigate regulation properties pertaining to SIMO LTI systems, in which objective function of regulated response is minimized jointly with the control eﬀort. We provide the closed-form solution of the H2 optimal regulation performance for unstable/non-minimum phase continuous-time and discrete-time systems. A direct implication of our main result in- cludes the energy regulation performance of minimum phase time delay systems.</p>

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Redondo, Jonatan Pajares, Beatriz L. Boada, and Vicente Díaz. "LMI-Based H∞ Controller of Vehicle Roll Stability Control Systems with Input and Output Delays." Sensors 21, no. 23 (November 25, 2021): 7850. http://dx.doi.org/10.3390/s21237850.

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Many of the current research works are focused on the development of different control systems for commercial vehicles in order to reduce the incidence of risky driving situations, while also improving stability and comfort. Some works are focused on developing low-cost embedded systems with enough accuracy, reliability, and processing time. Previous research works have analyzed the integration of low-cost sensors in vehicles. These works demonstrated the feasibility of using these systems, although they indicate that this type of low-cost kit could present relevant delays and noise that must be compensated to improve the performance of the device. For this purpose, it is necessary design controllers for systems with input and output delays. The novelty of this work is the development of an LMI-Based H∞ output-feedback controller that takes into account the effect of delays in the network, both on the sensor side and the actuator side, on RSC (Roll Stability Control) systems. The controller is based on an active suspension with input and output delays, where the anti-roll moment is used as a control input and the roll rate as measured data, both with delays. This controller was compared with a controller system with a no-delay consideration that was experiencing similar delays. The comparison was made through simulation tests with a validated vehicle on the TruckSim® software.

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Gao, Qingbin, Ayhan S. Kammer, Umut Zalluhoglu, and Nejat Olgac. "Critical Effects of the Polarity Change in Delayed States Within an LTI Dynamics With Multiple Delays." IEEE Transactions on Automatic Control 60, no. 11 (November 2015): 3018–22. http://dx.doi.org/10.1109/tac.2015.2408553.

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