Quasi-direct pole placement for time delay systems applied to a heat transfer set-up

Abstract

Abstract A method for quasi-direct pole placement is presented for a class of retarded time delay systems with a single control input. The pole placement is done in two steps. First, a number of dominant poles, smaller than the number of controller parameters, are directly assigned. This leads to constraints on the controller parameters. By using the singular value decomposition a simple parameterization of all controllers satisfying these constraints is obtained. In the second step, the remaining degrees of freedom in the parameter space are used to shift the remaining part of the system spectrum as far to the left as possible. It is done using an optimization procedure for nonsmooth, nonconvex functions. An extensive real-plant example is presented to demonstrate the application of the novel pole placement procedure.