Title :
High Performance Tracking Control for the Practitioner
Author :
Miklosovic, Robert ; Radke, Aaron
Author_Institution :
Telios Control Technol. Westlake, Westlake
Abstract :
This paper presents a unified high performance tracking control framework for practitioners that is easy to use. Various sources of tracking error are discussed and a general tracking control law is proposed. The use of feed forward terms in controllers is clarified and an analytical method of determining feed forward gains is presented. The concept is then applied to a disturbance rejection control framework and tested in hardware.
Keywords :
control system synthesis; feedforward; position control; disturbance rejection control framework; high performance tracking control; output feedback; state observer; Cities and towns; Control systems; Delay; Electrical equipment industry; Error correction; Feeds; Motion control; Poles and zeros; Testing; Transfer functions; 2dof; disturbance observer; disturbance rejection; feed forward; output feedback; state observer; tracking control;
Conference_Titel :
American Control Conference, 2007. ACC '07
Conference_Location :
New York, NY
Print_ISBN :
1-4244-0988-8
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2007.4283051
