Sonzogni, Giulia (Università degli studi di Bergamo), González, Rodrigo A. (Eindhoven University of Technology), Tiels, Koen (Eindhoven University of Technology), Mazzoleni, Mirko (University of Bergamo), Oomen, Tom (Eindhoven University of Technology), Previdi, Fabio (Universita' degli Studi di Bergamo)

Motion Control Tuning for Time-Delayed Systems with Integral Action

Scheduled for presentation during the Regular Session "Motion and Vibration Control - 2" (FrAT3), Friday, July 18, 2025, 10:00−10:20, Room 107

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on August 2, 2025

Abstract

Mechatronic systems often present integral actions and time delay. The Smith Predictor scheme is a common way to deal with time delay in control systems. However, standard Smith Predictor schemes exhibit poor performance when applied on systems with an integral action. This paper introduces a modified Smith Predictor to effectively control systems with both delays and an integral action. Additionally, a user-friendly design method that ensures closed-loop stability is provided. The effectiveness of the approach is verified on simulations and on an experimental motion setup.