Departament de Telecomunicació i d’Enginyeria de Sistemes, Escola d’Enginyeria, Universitat Autònoma de Barcelona, 08193 Bellaterra, Barcelona, Spain.
ISA Trans. 2012 May;51(3):351-61. doi: 10.1016/j.isatra.2011.11.005. Epub 2011 Dec 10.
A simple but effective on-line method to estimate the delay from step response, which can be used for stable, unstable and integrating systems, is proposed in this paper. The estimation and control are made simultaneously since the nominal delay is updated in closed-loop based on certain calculus on the output signal. Moreover, the approach is based on a Modified Smith Predictor and the delay estimation is implemented using a multi-model scheme with fixed models. Additionally, the convergence properties of the estimation algorithm and the stability analysis of the closed-loop are well-defined. Simulation examples show the effectiveness of the proposed method, where the delay estimation leads to an optimal and robust controller, tackling the uncertainty in the delay.
本文提出了一种简单而有效的在线方法，用于从阶跃响应估计延迟，该方法可用于稳定、不稳定和积分系统。由于标称延迟是根据输出信号的某些计算在闭环中更新的，因此可以同时进行估计和控制。此外，该方法基于改进的史密斯预估器，并使用具有固定模型的多模型方案实现延迟估计。此外，还明确了估计算法的收敛特性和闭环的稳定性分析。仿真示例表明了所提出方法的有效性，其中延迟估计导致了最优和鲁棒控制器，解决了延迟中的不确定性。
