Time-Delayed Vision-Based DC Motor Control via Rightmost Eigenvalue Assignment

A design method for time-delayed vision-based DC motor control is presented and experimentally validated. Both proportional-velocity (PV) and proportional-integral-velocity (PIV) feedback controllers are considered. When vision is used to measure the angular displacement of the motor shaft time delays arise due to image processing. Such delays must be considered in the controller design or can lead to poor performance and even instability. In this research we use rightmost eigenvalue assignment, based on the Lambert W function method, to design PV and PIV controllers. Experimental results validate previous theoretical and simulation studies [19], [20].