Sharif Digital Repository

This paper presents an improved low order technique for the design of FIR fractional delay (FD) filters. This method is based on a new use of the least square method in Hilbert space to approximate the ideal FD transfer function with a FIR filter. The main advantages of the resulting filter are: very good response at all frequencies and a good method to create very small delay. Design examples are demonstrated to illustrate the effectiveness of this new design approach. © 2004 IEEE  

A novel trombone topology has been introduced for achieving controllable true time delay. The prominent aspect of the proposed topology is the ability to provide discrete variable delay with minimum insertion loss variation with delay settings. Furthermore, the effects of source impedance, output load, and line-terminating loads' impedance mismatch on group delay variation are theoretically investigated for the proposed trombone topology. Moreover, based on this new topology, a prototype trombone delay circuit has been designed and fabricated in 0.18- mu ext{m} CMOS technology, operating over the frequency bandwidth of 8-18 GHz. This 3-bit delay integrated circuit provides a maximum delay... 

One of the most important problems in teleoperation systems is time delay and packet loss in the communication channel, which can affect transparency and stability. One way to overcome the time delay effects in a teleoperation system is to predict the master-side motion. In this way, when data is received in the slave side, it will be considered as the current position of the master robot and, thus, complete transparency could be achieved. The majority of the previous works regarding operator position prediction have considered known and constant time delay in the system; however, in the real applications, time delay is unknown and variable. In this paper, an adaptive online prediction... 

The time delay equations are frequently used to model real systems since they can describe the after-effect phenomenon. It is usually difficult to analyze the properties of time delay systems. Thus it would be beneficial to make the systems as simple as possible. For this purpose, the decomposition of the systems into some separate or cascaded sub-systems with smaller dimension is introduced as the solution of the mentioned complex task. The decomposition of the time delay systems with one delay is directly related to simultaneous similarity of two matrices. In this regard, necessary and sufficient conditions are derived for the existence of a common similar block diagonal or triangular form... 

This study presents a new approach to decompose singular time-delay systems (STDSs) in a way that they can be transformable to normal time-delay systems (TDSs) with a lower order. Necessary and sufficient conditions are provided to determine which STDSs can be transformed to TDSs. Also, a stabilisation method is provided to stabilise the system, while the time delay in the system can belong to several distinct intervals or even everywhere. The proposed method is non-fragile towards controller parameters. This method also reveals one of the many applicable situations of the proposed decomposition. The effectiveness of the proposed method is illustrated through some examples. © 2018 The... 

This paper studies fractional-order systems of retarded type with two independent delays, and determines the stability regions in spaces of delays. In this approach, an auxiliary polynomial is employed to calculate all purely imaginary roots of the characteristic equation of the system on the imaginary axis. Since roots of the characteristic equation are continuous with respect to delays, these purely imaginary roots determine the stability regions in delay space. Also, the necessary and sufficient condition for stability independent of delays is developed for the systems. Furthermore, a simple inequality constraint is established to obtain pure imaginary poles of the scalar systems.... 

In this research the parallel machine scheduling problem with preemption by considering a constant transportation delay for migrated jobs and minimization of makespan as the criterion i.e., Pm|pmtn(delay)|Cmax is investigated. It is assumed that when a preempted job resumes on another machine, it is required a delay between the processing time of the job on these two machines. This delay is called transportation delay. We criticize an existing mathematical model for the research problem in the literature [Boudhar M, Haned A. Preemptive scheduling in the presence of transportation times. Computers & Operations Research 2009; 36(8):2387-93]. Then, we prove that there exists an optimal schedule... 

The bounded-input bounded-output stability of fractional delay systems of neutral type is investigated in this study. The proposed method calculates the number of unstable poles of the system for each delay value. All time-delay intervals in time-delay space where system is stable are precisely determined. The stability of systems with not only indefinitely large values of time-delay, but also with multiple poles on the imaginary axis has been studied. The proposed method is employed for investigating the stability of a fractional delay system when its fractional orders approach to the integer numbers or zero. It is proved that simple case of neutral types and time-delay systems have the... 

This paper investigates the robust stability analysis of fractional-order interval systems with multiple time delays, including retarded and neutral systems. A bound on the poles of fractional-order interval systems of retarded and neutral type is obtained. Then, the concept of the value set and zero exclusion principle is extended to these systems, and a necessary and sufficient condition is produced for checking the robust stability of them. The value set of the characteristic equation of the systems is obtained analytically and, based on it, an auxiliary function is introduced to check the zero exclusion principle. Finally, two numerical examples are given to illustrate the effectiveness... 

A wideband integrated delay chain chip with 5-bit delay control, maximum delay of 120 ps and 3.9 ps delay resolution, designed and fabricated in 0.18 μ m CMOS technology is presented. Second-order all pass networks (APN) are used as delay structures in this delay circuit. In the design of the two MSB bits of the fabricated chip, a new design approach is used which allows higher group delay to be achieved with fewer number of passive second-order APN circuits. This would in turn reduce insertion loss of the designed delay control chain. Measurement results of the fabricated delay chain show 12.6–20.5 dB insertion loss and less than 3.3 ps RMS delay error over the intended frequency band from... 

This paper deals with defining the concept of agent-based time delay margin and computing its value in multi-agent systems controlled by event-triggered based controllers. The agent-based time delay margin specifying the time delay tolerance of each agent for ensuring consensus in event-triggered controlled multi-agent systems can be considered as complementary for the concept of (network) time delay margin, which has been previously introduced in some literature. In this paper, an event-triggered control method for achieving consensus in multi-agent systems with time delay is considered. It is shown that the Zeno behavior is excluded by applying this method. Then, in a multi-agent system... 

One of the most important problems in teleoperation systems is time delay and packet loss in the communication channel, which can affect transparency and stability. One way to overcome the time delay effects in a teleoperation system is to predict the master-side motion. In this way, when data is received in the slave side, it will be considered as the current position of the master robot and, thus, complete transparency could be achieved. The majority of the previous works regarding operator position prediction have considered known and constant time delay in the system; however, in the real applications, time delay is unknown and variable. In this paper, an adaptive online prediction... 

This paper presents a new method for assessing the bounded input bounded output stability of a class of fractional delay systems with commensurate orders and multiple commensurate delays of retarded type. In the proposed method, first, by mapping the principal sheet of the Riemann surface and a pseudo-delay transformation, an auxiliary polynomial is generated. Then, this auxiliary polynomial is employed to find roots of the characteristic equation on the imaginary axis. The properties of the root path close to these roots are used to identify intervals of delay values, in which the system is stable. The obtained results are illustrated via some numerical examples  

This study deals with proposing a Lyapunov-based technique for stability analysis of fractional order time-delay systems. The proposed technique is constructed on the basis of modifying the convex part of a class of Lyapunov-Krasovskii functionals commonly used in stability analysis of integer order time-delay systems. As a consequence for this achievement, it is revealed that the Lyapunov-Krasovskii-based stability conditions in integer order time-delay systems can result in stability of their fractional order counterparts defined based on Caputo/Riemann-Liouville derivative operators with orders in the range (0,1). The applicability of the study results is shown through three different... 

This paper presents a low-order and accurate method for the design of FIR fractional delay (FD) filters with complex coefficients. This method employs least square technique in Hilbert space to approximate the ideal FD transfer function with a FIR filter and to calculate its coefficients. The main advantages of the resulting filter are: very good response at all frequencies compared to other FD filter design methods and a good method to create very small delay. Design examples are presented to illustrate the effectiveness of this new design approach. © World Scientific Publishing Company  

In this paper, we analyze the worst-case delay performance of a network of fair queuing servers in case of multiple-paths between source-destination pairs. In order to develop worst-case delay analysis for the multiple-path scenario, two challenging events should be addressed: merging different sub-streams of a session as well as distributing a traffic stream among different paths (traffic partitioning). Specifically, we propose to merge incoming sub-streams of a session to a node according to a limited rate Fair Queuing (FQ) scheme. Although the merged stream is treated as a unity, this approach results in a guaranteed level of service to each sub-stream. In addition, an algorithm is... 

In this work, a novel method is proposed to study the BIBO stability of a fractional delay system. The characteristic equation of a fractional delay system with some transcendental terms has infinitely many roots. Applying D-subdivision method and the Rekasius substitution divide one-dimensional parametric space of the time delay to infinite intervals with finite unstable roots. The number of unstable roots in each interval is calculated with the definition of root tendency on the boundary of each interval. Two illustrative examples are presented to confirm the proposed method results  

Multivariate ring-model description and the delay operator are used to represent LTI systems with delays in the states, inputs and outputs. By using the concept of μ-Decentralized Fixed Mode (μ-DFM) and generalized Nyquist criterion, it is demonstrated that the steady-state gain information yet remains the only information necessary to assess integral stabilizability (IS), integral controllability (IC), integral controllability with integrity (ICI) and decentralized integral controllability (DIC) of LTI time-delay systems. The conditions involve no approximation of the delay terms. Furthermore, it is demonstrated that a previous assumption on the existence of a stabilizing and stable... 

This paper addresses the design of an observer based adaptive neural controller for a class of strict-feedback nonlinear uncertain systems subject to input delay, saturation and unknown direction. The input delay has been handled using an integral compensator term in the controller design. A neural network observer has been developed to estimate the unmeasured states. In the observer design, the Lipschitz condition has been relaxed. To solve the problem of unknown control directions, the Nussbaum gain function has been applied in the backstepping controller design. “The explosion of complexity” occurred in the traditional backstepping technique has been avoided utilizing the dynamic surface...