Zaman gecikmeli sistemler icin gürbüz denetleyici tasarımı

The main objective of this thesis is to present a method to robustly stabilize retarded linear time-invariant time-delay systems with a presence of multiple uncertain time delays. As a result, the proposed method obtains the best guaranteed exponential decay rate. In this method, the spectral abscissa for the worst time delay is minimized using a formulated minimax dynamic game problem with two decision makers. Algorithms are proposed to solve the formulated problem depending on steepest gradient descent/ascent. Also, an initialization procedure for designing controller's free parameters is proposed. Both minimax game and initialization procedure used to build a complete robust output feedback controller design algorithm. A software package implements the controller design algorithm created. Illustrative numerical examples are solved.