Some remarks on the fragility of Smith predictors used in haptics.

Abstract : In this paper we propose a method to study the fragility of Smith predictor controllers used in haptics. In order to develop controllers for real environments, a careful analysis must be taken into account for the variation of the parameters. Generally, real systems present parameter variations which often lead the system to an unstable behaviour. Using a geometric approach, we derive a simple method to study the fragility of Smith predictors for two cases - constant and uncertain delays. Illustrative examples complete the presentation.
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Bogdan Liacu, Irinel-Constantin Morarescu, Claude Andriot, Silviu-Iulian Niculescu, Didier Dumur, et al.. Some remarks on the fragility of Smith predictors used in haptics.. 11th International Conference on Control, Automation and Systems, ICCAS 2011, Oct 2011, Gyeonggi-do, South Korea. pp.CDROM. ⟨hal-00638007⟩

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