In this note, a partial pole assignment approach is presented for second-order systems with time delay. The method uses the versatile system receptance for designing state-feedback, rank-one controllers for second-order systems with time delay in the measurements or actuation. The stability of the closed-loop system is pursued throughout an optimization problem formulated with basis on the classical frequency domain technique known as the Nyquist stability criterion. Besides the partial pole assignment, robustness measured in terms of phase and gain margins can be achieved using a genetic algorithm to solve the optimization problem. The proposed approach is shown to provide effective solutions for systems with different time delays in the measurements of displacements and velocities, and with singular mass matrix. Numerical examples are presented to illustrate the benefits of the approach.

在本说明中，提出了具有时滞的二阶系统的部分极点分配方法。该方法使用通用的系统接收器来设计用于二阶系统的状态反馈，排名第一的控制器，该控制器具有在测量或执行中的时间延迟。在基于经典频域技术（称为奈奎斯特稳定性判据）制定的优化问题中，始终追求闭环系统的稳定性。除了部分极点分配外，还可以使用遗传算法来解决根据相位和增益裕度测量的鲁棒性优化问题。所显示的方法为具有不同时延的位移和速度测量以及奇异质量矩阵的系统提供了有效的解决方案。