The effects of computational delay in descriptor-based trajectory tracking control (Q4344780)

Descriptor predictive control (DPC) is a useful method for solving nonlinear tracking problems. In practice, however, they often run into trouble when applied to large and complex linear plants since they rely on the construction of the inverse dynamics of the plant. The authors instead, use the methodology, were the controller makes the required computations numerically, taking into account computational delay, which is unavoidable in actual implementation of DPC. They show, in particular, that the closed loop system remains stable as long as the delay is smaller than a certain threshold. A nonlinear robotics problem is worked out in detail.