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Effects of computing time delay on real-time control systemsThe reliability of a real-time digital control system depends not only on the reliability of the hardware and software used, but also on the speed in executing control algorithms. The latter is due to the negative effects of computing time delay on control system performance. For a given sampling interval, the effects of computing time delay are classified into the delay problem and the loss problem. Analysis of these two problems is presented as a means of evaluating real-time control systems. As an example, both the self-tuning predicted (STP) control and Proportional-Integral-Derivative (PID) control are applied to the problem of tracking robot trajectories, and their respective effects of computing time delay on control performance are comparatively evaluated. For this example, the STP (PID) controller is shown to outperform the PID (STP) controller in coping with the delay (loss) problem.
Document ID
19880045608
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Shin, Kang G.
(Michigan Univ. Ann Arbor, MI, United States)
Cui, Xianzhong
(Michigan, University Ann Arbor, United States)
Date Acquired
August 13, 2013
Publication Date
June 1, 1988
Subject Category
Cybernetics
Accession Number
88A32835
Funding Number(s)
CONTRACT_GRANT: NAG1-296
CONTRACT_GRANT: NSF DMC-87-21492
Distribution Limits
Public
Copyright
Other

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