Static output tracking control for non-linear polynomial time-delay systems via block-pulse functions

Abstract

In this paper, a new method is introduced to design static output tracking controllers for a class of non-linear polynomial time-delay systems. The proposed technique is based on the projection of the controlled system and the associated linear reference model that it should follow over a basis of block-pulse functions. The useful properties of these orthogonal functions such as operational matrices jointly used with the Kronecker tensor product may transform the non-linear delay differential equations into linear algebraic equations depending only on parameters of the feedback regulator. The least-squares method is then used for determination of the unknown parameters. Sufficient conditions for the practical stability of the closed-loop system are derived, and a domain of attraction is estimated. The implementation of the proposed method is illustrated on a double inverted pendulums benchmark as well as a two-degree-of- freedom mass-spring-damper system. The simulation results show the effectiveness of the developed technique.

Keywords:

• Non-linear polynomial time-delay system
• static output tracking control
• practical stability
• block-pulse functions