摘要：AbstractThis work proposes a tuning methodology for the Cascade Proportional Integral Retarded (CPIR) controller applied to a class of second order systems. Unlike the Proportional Integral Retarded (PIR) control law, the CPIR is composed of two nested loops, each of them having its own controller. The inner loop is regulated through an Integral Retarded (IR) Controller and the outer loop uses a proportional (P) controller. It is worth remarking that the stability of both loops must be simultaneously guaranteed, a problem not appearing in the PIR controller. The proposed tuning methodology is based on the spectral abscissa analysis of the Outer loop. The IR controller tuning rules and a double root placement analysis in the CPIR quasy-polynomial allows writing an analytical form of thePproportional gain. Subsequently, this gain is computed by solving a transcendental nonlinear equation. The proposed tuning method is assessed by means of experiments in a laboratory prototype.
关键词：KeywordsTime-delay systemsdelay-based controlretarded controlcascade proportional integral retarded control
