AUTHORS: Tooran Emami

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ABSTRACT: The goal of this paper is to find three sets of algorithm for the coefficients of Discrete Time Proportional Integral Derivative (DT-PID) controllers that simultaneously stabilize the closed-loop system and satisfy a mixed sensitivity constraint. Additive uncertainty modeling describes the uncertainty of perturbed single input single output (SISO) system with an uncertain communication time delay. The DT-PID controllers’ coefficients are defined based on the bilinear transformation technique in the frequency domain. The analysis of this procedure depends on the frequency response of discrete time modeling of the system. This methodology applies to an experimental data from a SRV-02 DC motor to regulate the shaft position of the motor

KEYWORDS: Mixed sensitivity, discrete time, PID controller, uncertain time delay

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