Rifat Sipahi

An exact method for the stability analysis of time-delayed linear time-invariant (LTI) systems

A general class of linear time invariant systems with time delay is studied. Recently, they attracted considerable interest in the systems and control community. The complexity arises due to the exponential type transcendental terms in their characteristic equation. The transcendentality brings infinitely many characteristic roots, which are cumbersome to elaborate as evident from the literature. A number of methodologies have been suggested with limited ability to assess the stability in the parametric domain of time delay. This study offers an exact, structured and robust methodology to bring a closure to the question at hand. Ultimately we present a unique explicit analytical expression in terms of the system parameters which not only reveals the stability regions (pockets) in the domain of time delay, but it also declares the number of unstable characteristic roots at any given pocket. The method starts with the determination of all possible purely imaginary (resonant) characteristic roots for any positive time delay. To achieve this a simplifying substitution is used for the transcendental terms in the characteristic equation. It is proven that the number of such resonant roots for a given dynamics is finite. Each one of these roots is created by infinitely many time delays, which are periodically distributed. An interesting property is also claimed next, that the root crossing directions at these locations are invariant with respect to the delay and dependent only on the crossing frequency. These two unique findings facilitate a simple and practical stability method, which is the highlight of the work.

Stability and Stabilization of Systems with Time Delay

Time-delays are important components of many dynamical systems that describe coupling or interconnection between dynamics, propagation, or transport phenomena in shared environments, in heredity, and in competition in population dynamics. This monograph addresses the problem of stability analysis and the stabilisation of dynamical systems subjected to time-delays. It presents a wide and self-contained panorama of analytical methods and computational algorithms using a unified eigenvalue-based approach illustrated by examples and applications in electrical and mechanical engineering, biology, and complex network analysis.

Brief A practical method for analyzing the stability of neutral type LTI-time delayed systems

A new paradigm is presented for assessing the stability posture of a general class of linear time invariant-neutral time delayed systems (LTI-NTDS). The ensuing method, which we name the direct method (DM), offers several unique features: It returns the number of unstable characteristic roots of the system in an explicit and non-sequentially evaluated function of time delay, @t. Consequently, the direct method creates exclusively all possible stability intervals of @t. Furthermore, it is shown that this method inherently verifies a widely accepted necessary condition for the @t-stabilizability of a LTI-NTDS. In the core of the DM lie a root clustering paradigm and the strength of Rekasius transformation in mapping a transcendental characteristic equation into an equivalent rational polynomial. In addition, we also demonstrate by an example that DM can tackle systems with unstable starting posture for @t=0, only to stabilize for higher values of delay, which is rather unique in the literature.

A unique methodology for the stability robustness of multiple time delay systems

Abstract The stability robustness is considered for linear time invariant (LTI) systems with rationally independent multiple time delays against delay uncertainties. The problem is known to be notoriously complex, primarily because the systems are infinite dimensional due to delays. Multiplicity of the delays in this study complicates the analysis even further. And “rationally independent” feature of the delays makes the problem prohibitively challenging as opposed to the TDS with commensurate time delays (where time delays are rationally related). A unique framework is described for this broadly studied problem and the enabling propositions are proven. We show that this procedure analytically reveals all possible stability regions exclusively in the space of the delays. As an added strength, it does not require the delay-free system under consideration to be stable. Our methodology offers a resolution to this question, which has been studied from variety of directions in the past four decades. None of these respectable investigations can, however, deliver an exact and exhaustive robustness declaration. From this stand point the new method has a unique contribution.

Stability of Traffic Flow Behavior with Distributed Delays Modeling the Memory Effects of the Drivers

Stability analysis of a single-lane microscopic car-following model is studied analytically from the perspective of delayed reactions of human drivers. In the literature, the delayed reactions of the drivers are modeled with discrete delays, which assume that drivers make their control decisions based on the stimuli they receive from a point of time in the history. We improve this model by introducing a distribution of delays, which assumes that the control actions are based on information distributed over an interval of time in history. Such an assumption is more realistic, as it takes into consideration the memory capabilities of the drivers and the inevitable heterogeneity of their delay times. We calculate exact stability regions in the parameter space of some realistic delay distributions. Case studies are provided demonstrating the application of the results.The stability of functional differential equations under delayed feedback is investigated near a Hopf bifurcation. Necessary and sufficient conditions are derived for the stability of the equilibrium solution using averaging theory. The results are used to compare delayed versus undelayed feedback, as well as discrete versus distributed delays. Conditions are obtained for which delayed feedback with partial state information can yield stability where undelayed feedback is ineffective. Furthermore, it is shown that if the feedback is stabilizing (respectively, destabilizing), then a discrete delay is locally the most stabilizing (resp., destabilizing) one among delay distributions having the same mean. The result also holds globally if one considers delays that are symmetrically distributed about their mean. MSC: 34K35, 93C23, 93D15, 34K20

A Unique Methodology for Chatter Stability Mapping in Simultaneous Machining

A novel analytical tool is presented to assess the stability of simultaneous machining (SM) dynamics, which is also known as parallel machining. In SM, multiple cutting tools, which are driven by multiple spindles at different speeds, operate on the same workpiece. Its superior machining efficiency is the main reason for using SM compared with the traditional single tool machining (STM). When SM is optimized in the sense of maximizing the rate of metal removal constrained with the machined surface quality, typical chatter instability phenomenon appears. Chatter instability for single tool machining (STM) is broadly studied in the literature. When formulated for SM, however, the problem becomes notoriously more complex. There is practically no literature on the SM chatter, except a few ad hoc and inconclusive reports. This study presents a unique treatment, which declares the complete stability picture of SM chatter within the mathematical framework of multiple time-delay systems (MTDS). What resides at the core of this development is our own paradigm, which is called the cluster treatment of characteristic roots (CTCR). This procedure determines the regions of stability completely in the domain of the spindle speeds for varying chip thickness. The new methodology opens the research to some interesting directions. They, in essence, aim towards duplicating the well-known stability lobes concept of STM for simultaneous machining, which is clearly a nontrivial task.

The cluster treatment of characteristic roots and the neutral type time-delayed systems

A new methodology is presented for assessing the stability posture of a general class of linear time-invariant-neutral time-delayed systems (LTI-NTDS). It is based on a Cluster Treatment of Characteristic Roots CTCR paradigm, which yields a procedure called the Direct Method (DM). The technique offers a number of unique features: It returns exact bounds of time delay for stability, as well as the number of unstable characteristic roots of the system in an explicit and nonsequentially evaluated function of time delay. As a direct consequence of the latter feature, the new methodology creates entirely, all existing stability intervals of delay, τ. It is shown that the Direct Method inherently enforces an intriguing necessary condition for τ-stabilizability, which is the main contribution of this paper. This, so-called, small delay effect, was recognized earlier for NTDS, only through some cumbersome mathematics. Furthermore, the Direct Method is also unique in handling systems with unstable starting posture for τ=O, which may be τ-stabilized for higher values of delay. Example cases are provided.

“Delay Scheduling”: A New Concept for Stabilization in Multiple Delay Systems

A trajectory-tracking problem is considered for a linear time invariant (LTI) dynamics with a fixed control law. However, the feedback line is affected by multiple time delays. The stability of the dynamics becomes a complex problem. It is well known that time-delayed LTI systems may exhibit multiple stable operating zones (which we call pockets) in the space of the delays. Our aim in this paper is to locate and experimentally validate these pockets. For the analytical determination of the pockets we utilize a new methodology, the cluster treatment of characteristic roots (CTCR). The study results in several interesting conclusions. (i) The systems may exhibit better control performance (for instance, faster disturbance rejection) for larger time delays. (ii) Consequently, we propose a unique and interesting utilization of the time delays as agents to enhance the control performance, the delay scheduling technique.

Active Vibration Suppression With Time Delayed Feedback

Various active vibration suppression techniques, which use feedback control, are implemented on the structures. In real application, time delay can not be avoided especially in the feedback line of the actively controlled systems. The effects of the delay have to be thoroughly understood from the perspective of system stability and the performance of the controlled system. Often used control laws are developed without taking the delay into account. They fulfill the design requirements when free of delay. As unavoidable delay appears, however, the performance of the control changes. This work addresses the stability analysis of such dynamics as the control law remains unchanged but carries the effect of feedback time-delay, which can be varied. For this stability analysis along the delay axis, we follow up a recent methodology of the authors, the Direct Method (DM), which offers a unique and unprecedented treatment of a general class of linear time invariant time delayed systems (LTI-TDS). We discuss the underlying features and the highlights of the method briefly. Over an example vibration suppression setting we declare the stability intervals of the dynamics in time delay space using the DM. Having assessed the stability, we then look at the frequency response characteristics of the system as performance indications.

Delay-Independent Stability Test for Systems With Multiple Time-Delays

Delay-independent stability (DIS) of a general class of linear time-invariant (LTI) multiple time-delay system (MTDS) is investigated in the entire delay-parameter space. Stability of such systems may be lost only if their spectrum lies on the imaginary axis for some delays. We build an analytical approach that requires the inspection of the roots of finite number of single-variable polynomials in order to detect if the spectrum ever lies on the imaginary axis for some delays, excluding infinite delays. The approach enables to test the necessary and sufficient conditions of DIS of LTI-MTDS, technically known as weak DIS, as well as the robust stability of single-delay systems against all variations in delay ratios. The proposed approach, which does not require any parameter sweeping and graphical display, becomes possible by establishing a link between the infinite spectrum and algebraic geometry. Case studies are provided to show the effectiveness of the approach.