Time Delay control with Internal Model(TDCIM) is a robust control scheme for robot manipulators that uses Time Delay Estimation(TDE) and Internal Model Control concept. TDCIM is effective enough to handle the bad effect of friction, and is so simple and efficient as to match positive attribute of TDC.
But its's stability analysis in former thesis is too conservative. And it is hard to find stable gain of TDCM with that stability analysis it it is used in 2 link manipulator in spite of it's broad stable gain range.
So, in this research we propose more reasonable stability condition for TDCIM through more proper way to stability analysis of TDCIM. It can be shown that new stability condition of this thesis includes more stable gain than old one by comparison.
In this thesis, after stability analysis, we find the relation between TDCIM and PID compensator. And, using this relation, we propose a method for making a convenience of TDCIM with only knowledge of PID compensator.
