Controller Design for Unstable Coupled TITO Systems with Time Delay: an application to haptic systems

In this work, two-input-two-output (TITO) unstable systems with time delays are considered. In particular, the focus is on haptic systems, where the human operator acting on the haptic interface and the virtual object are physically separated by a communication network. It is assumed that the underlying plant contains coupled time delays (in both channels) and additional delays arise from the network. It is shown that an extension of the modified Smith predictor based control with decoupler and a reference filter stabilizes the feedback system under delay uncertainties. Copyright (c) 2024 The Authors.