Quasi-perfect tracking control of non-minimal phase systems

Author

Torfs, D. ; Swevers, J. ; De Schutter, J.

Author_Institution

Dept. of Mech. Eng., Katholieke Univ., Leuven, Belgium

fYear

1991

fDate

11-13 Dec 1991

Firstpage

241

Abstract

The authors describe a new digital algorithm for quasi-perfect tracking control (QPTC) of non-minimal phase systems. The algorithm computes a feedforward signal in two steps: (1) a feedforward signal based on the zero phase error tracking control (ZPETC) algorithm of M. Tomizuka (1987); and (2) a compensation of the remaining tracking error with an additional feedforward. First, a closed-form expression is derived for the relation between the z-transform of the desired output signal and the z-transform of the tracking error resulting from the ZPETC algorithm. From this expression, the time and frequency domain properties are derived. These properties give insight into the parameters that influence the tracking error. Second, the QPTC algorithm is discussed and verified by simulation results. It shows a drastic improvement of tracking over the ZPETC algorithm

Keywords

Z transforms; compensation; digital control; frequency-domain analysis; position control; time-domain analysis; compensation; digital control; feedforward signal; frequency domain; nonminimal phase systems; position control; quasi-perfect tracking control; time domain; z-transform; zero phase error tracking control; Adaptive control; Closed loop systems; Closed-form solution; Control systems; Delay; Error correction; Frequency; Frequency domain analysis; Inverse problems; Motion control; Poles and zeros; Tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1991., Proceedings of the 30th IEEE Conference on

Conference_Location

Brighton

Print_ISBN

0-7803-0450-0

Type

conf

DOI

10.1109/CDC.1991.261296

Filename

261296