Computation of Robust Stability Delay Margin for Time-Delay DC Motor Speed Control System

This study presents a comprehensive robust stability analysis for a DC motor speed control system that incorporates communication delays and parametric uncertainties. An efficient approach based on Kharitonov's Theorem is used to determine delay margins that guarantee the stability of the system. Kharitonov's Theorem is a method for analyzing the stability of polynomials with uncertain coefficients. In this study, Kharitonov's Theorem and the elimination of exponential terms method are used together to compute robust stability delay margins that ensure the robust stability of the speed control system with parametric uncertainties. The accuracy of stability delay margins and the robustness of the system are verified by time-domain simulations.