"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.