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Numerical Predictive Control for Delay Compensation

Shi, Xichen and O'Connell, Michael and Chung, Soon-Jo (2020) Numerical Predictive Control for Delay Compensation. . (Unpublished)

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We present a delay-compensating control method that transforms exponentially stabilizing controllers for an undelayed system into a sample-based predictive controller with numerical integration. Our method handles both first-order and transport delays in actuators and trades-off numerical accuracy with computation delay to guaranteed stability under hardware limitations. Through hybrid stability analysis and numerical simulation, we demonstrate the efficacy of our method from both theoretical and simulation perspectives.

Item Type:Report or Paper (Discussion Paper)
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URLURL TypeDescription Paper
Chung, Soon-Jo0000-0002-6657-3907
Record Number:CaltechAUTHORS:20201110-074747495
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:106578
Deposited By: Tony Diaz
Deposited On:10 Nov 2020 16:17
Last Modified:10 Nov 2020 16:17

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