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—A version of the input-to-output stability (IOS) small gain theorem is derived for interconnections where the subsystems communicate asynchronously over multiple channels, and the communication is subject to multiple time-varying possibly unbounded communication delays. It is shown that a " multi-dimensional " version of the small gain condition guarantees(More)
Digital Control is intended to serve as a text for a senior-level course on the analysis and design of digital control systems. There are many books on this subject. Perhaps the principal difference between this and most other books in the area is that Vaccaro has focused on the modem control, or state space approach to control systems design, and has(More)
Teleoperation systems are subject to different types of disturbances. Such disturbances, when unaccounted for, may cause poor performance and even instability of the teleoperation system. This paper presents a novel nonlinear bilateral control scheme using the concept of disturbance observer based control for nonlinear teleoperation systems. Lumping the(More)
In this paper, a robust controller design method is first formulated to deal with both performance and robust stability specifications for multivariable processes. The optimum problem is then dealt with using a loop-shaping H ∞ approach, which gives a sub-optimal solution. Then a PID approximation method is proposed to reduce a high-order controller. The(More)
Criteria based on disturbance rejection and system robustness are proposed to assess the performance of PID controllers. A simple robustness measure is defined and the integral gains of the PID controllers are shown to be a good measure for disturbance rejection. An analysis of some well-known PID tuning formulas reveals that the robustness measure should(More)