Stability Analysis of Control Systems subject to Delay-Difference Feedback

Abstract

In engineering practice, delay-difference is often used to approximate the derivatives of output signals for feedback control, leading to a closed-loop system with delay both in the states and in the system’s coefficients. In this context, our objective is to find all the delay values contained in some interval that guarantee the exponential stability of the closed-loop system subject to the delay-difference approximation. A method for stability analysis of systems with delay-dependent coefficients developed in our previous work is further extended and applied to tackle the particular form of systems considered in this paper. The proposed stability analysis procedure is illustrated through the design of a mobile-robot path-following controller.