Stabilizing a chain of integrators using multiple delays

Silviu-Iulian Niculescu (1) , Wim Michiels (2)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]
2 Department of Computer Science - K.U.Leuven

This note addresses the output feedback stabilization problem of a chain of integrators using multiple delays. We shall prove that either n distinct delays or a proportional+delay compensator with n - 1 distinct delays are sufficient to stabilize a chain including n integrators. We present two different approaches. Both are constructive and rely on frequency-domain techniques on a derivative feedback approximation idea, and a pole placement idea, respectively. An illustrative example (triple integrator) is presented.

Mots clés: Delay integrator; Interpolation; Pole placement

Domaines: Automatique / Robotique

Silviu-Iulian Niculescu, Wim Michiels. Stabilizing a chain of integrators using multiple delays. IEEE Transactions on Automatic Control, 2004, 49 (5), pp.802-807. ⟨10.1109/TAC.2004.828326⟩. ⟨hal-02294295⟩