Robustness to Jitter in Real Time Systems
Abstract: Communication delays in real time systems cause detoriation of the control performance of the closed loop system. To investigate this problem a process with varying delay is studied. Control of a motor in presence of delays is studied for different delay models. Design equations are derived based on polynomial design. The design depends on the designer's choices, i.e. desired closed-loop behavior, expected delay, observer poles and sampling period. The main part of this work studies the influence of these choices on the stability of the system: stability domains in terms of delays are computed, a gain scheduling controller is simulated and a trade off between robustness to delays and load disturbance cancellation is found when placing the observer poles.
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