Synopsis
This book provides the mathematical foundations needed for designing practical controllers for linear time-invariant systems. The authors accomplish this by incorporating intentional time delays into measurements with the goal of achieving anticipation capabilities, reduction in noise sensitivity, and a fast response. The benefits of these types of delay-based controllers have long been recognized, but designing them based on an analytical approach became possible only recently. Design of Delay-Based Controllers for Linear Time-Invariant Systems provides a thorough survey of the field and the details of the analytical approaches needed to design delay-based controllers. In addition, readers will find accessible mathematical tools and self-contained proofs for rigorous analysis, numerous examples and comprehensive computational algorithms to motivate the results, and experiments on single-input single-output systems and multi-agent systems using real-world control applications to illustrate the benefits of intentionally inducing delays in control loops.
About the Authors
Adrián Ramírez is a professor in the Division of Control and Dynamical Systems at IPICYT, working under the CONAHCYT program: Investigadoras e Investigadores por México. His research focuses on exploring the beneficial and detrimental effects of time delays in dynamical systems with applications in robotics, multi-agent systems, and power electronics.
Rifat Sipahi is a professor in the Department of Mechanical and Industrial Engineering at Northeastern University in Boston. He is the recipient of a 2011 DARPA Young Faculty Award and the 2015 ASME Dynamic Systems and Control Division Outstanding Young Investigator Award, a Fellow of ASME and a senior member of IEEE, and an associate editor for Automatica. His research interests include stability, stabilization of dynamical systems at the interplay between multiple time delays and network graphs, human-machine systems, and human-robotic interactions.
Sabine Mondié is a professor and head of the Department of Automatic Control at CINVESTAV-IPN in México. She has been chair of education, vice-chair of the IFAC Technical Committee 2.2 on Linear Control Systems, and a member of the IFAC Council for the 2023–2026 triennium. She has served as associate editor for several journals, including IEEE Transactions on Automatic Control, Systems & Control Letters, and European Journal of Control. Her research focuses on time-delay systems and their stability and robustness properties, as well as delay applications in engineering and biology.
Rubén Garrido is a professor in the Department of Automatic Control at CINVESTAV-IPN in México, where he is responsible for experimental services. His research interests include serial and parallel robot control, visual servoing, servomechanism control, adaptive control, delay-based control, neural networks–based control, parameter identification, and tuning of feedback controllers using bio-inspired metaheuristics.
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