Effect of time-delay on the derivative feedback control of a 2-degree-of-freedom torsional bar with parameter perturbations

This paper is concerned with the derivative feedback control of a 2-degree-of-freedom (2-DOF) torsional bar with parameter perturbations. The time-delay is introduced into the controller and the maximum allowed time-delay bound is estimated by employing a discretized Lyapunov functional method. It is shown, through a numerical example with simulation results, that suitably introducing time-delay into the controller can indeed improve the performance of the stability of the closed-loop system.