Abstract
This research work describes the time-delays effect on speed control of DC motor system with non-linear load disturbance in the states. With this task, the paper presents a linearised model of speed control system based on delay-dependent state equation. Since the non-linearly load disturbance in the DC motor system (with time delay) ultimately affects the evolution of the system states, the non-linear load disturbance is modelled (mathematical) as a non-bounded non-linear function of current state vector and delayed state vector, subsequently included into the system stability analyses. In the analysis, two cases are employed: constant time delay and time-varying delay with exogenous load disturbance. In the proposed results, for broad range of PI controller gains, the maximum value of upper bound delay of DC motor speed control system are determined and new stability criterion was identified.
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