STUDY OF COMPUTATIONAL DELAY COMPENSATION IN DIGITAL CONTROLLERS

Abstract

There are several methods for converting continuous control systems into digital control systems. Some of these methods with some modifications are presented here and discussed in details. The digitization process adds a negative phase to the digital system which is to be the equivalent of the existing continuous system. This phase lag is introduced by the computational delay time of the digital system which is the computational time of the digital controller algorithm, A-to-D and D-to-A converters. The effect of the computational delay on the performance of the digital equivalents of a continuous control system obtained by different methods is demonstrated which justifies the necessity of the compensation for computational delay. The digital controllers which are designed while the computational delay is compensated, provide us equivalent digital systems that better approximate the continous systems