Long Actuator Delays - Extending the Smith Predictor to Nonl

Long Actuator Delays - Extending the Smith Predictor to Nonlinear Miroslav Krstic Mechanical and Aerospace Engineering University of California, San Diego Abstract: One would be hard pressed to find "long actuator delays, "unknown delays," or "nonlinear control" co-existing in the same sentence in the control literature. This is due to the potential for finite escape in the presence of nonlinearity, and due to the uncertainty in the size of the infinite-dimensional part of the system's state in the case of unknown delay. It has been half a century since Otto Smith, a professor of Mechanical Engineering at UC Berkeley, invented the "predictor" feedback for compensating long but known actuator delays for linear systems. This method has since become one of the favorite tools in chemical process control and many other applications. I will show an extension of predictor feedback to nonlinear (possibly unstable) systems, which is enabled by "infinite dimensional/continuum backstepping." Backstepping yields the construction of Lyapunov-Krasovskii functional with which I have been able to prove robustness of predictor feedbacks to both underestimating and overestimating the length of the actuator delay, as well as to develop the first delay-adaptive controllers. Bio: Miroslav Krstic is the Sorenson Professor of Mechanical and Aerospace Engineering and the Director of the newly formed Center for Control Systems and Dynamics (CCSD) at the University of California at San Diego. He ...

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