Output tracking for dual-inertia system with dead time based on stable system center approach

Abstract

Output tracking for a SISO plant with dead time is considered in this paper. Using Padé approximation for the dead time, the plant can be written in the form of a nonminimum phase system. The output tracking problem for this approximated non-minimum phase system is reformulated as a state tracking problem. Later a sliding mode controller is designed for state tracking; the non-measurable states are estimated using a sliding mode observer. Results for a dual inertia system with dead time are shown both in simulation and experiment.