Motion control systems with network delay

A. Sabanovic, K. Ohnishi, D. Yashiro, N. Sabanovic

Research output: Contribution to conferencePaperpeer-review

5 Citations (Scopus)


In this paper motion control systems with delay in measurement and control channels are discussed and a new structure of the observer-predictor is proposed. The feature of the proposed system is enforcement of the convergence in both the estimation and the prediction of the plant output in the presence of the variable, unknown delay in both measurement and in the control channels. The estimation is based on the available data - undelayed control input, the delayed measurement of position or velocity and the nominal parameters of the plant and it does not require apriori knowledge of the delay. The stability and convergence is proven and selection of observer and the controller parameters is discussed. Experimental results are shown to illustrate the theoretical predictions.

Original languageEnglish
Number of pages6
Publication statusPublished - 2009
Externally publishedYes
Event35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
Duration: 2009 Nov 32009 Nov 5


Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009


  • Disturbance observer
  • Motion control
  • Network time delay
  • Observers

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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