Optimization of digital control with delay by periodic variation of the gain parameters

Research output: Contribution to journalConference article

8 Citations (Scopus)


The effect of periodic gain variation on the stability and robustness of digitally position controlled machines is investigated. Time delay and sampling effect of the control are included in the model. A discrete map is constructed that describes the dynamics of the digitally controlled system. the destabilizing effect of the time delay is shown by numerical examples. In order to improve stability properties, the control gains are varied according to the act and wait principle: they are switched between a constant value (act) and zero (wait). It is shown that the act and wait method leads to significant improvements in stability and also decreases the position error.

Original languageEnglish
Pages (from-to)145-150
Number of pages6
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Issue number12
Publication statusPublished - Jan 1 2004
Event2004 IFAC Workshop on Adaptation and Learning in Control and Signal Processing, ALCOSP 2004 and IFAC Workshop on Periodic Control Systems, PSYCO 2004 - Yokohama, Japan
Duration: Aug 30 2004Sep 1 2004


  • Dead-beat control
  • Gain modulation
  • Optimal control
  • PD controllers
  • Sampling
  • Stability
  • Time delay

ASJC Scopus subject areas

  • Control and Systems Engineering

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