Efficient fixed-point realization of approximate dynamic inversion compensators for non-minimum phase systems

Author

Chang, H. ; Tsu-Chin Tsao

Author_Institution

Mech. & Aerosp. Eng., Univ. of California, Los Angeles, CA, USA

fYear

2010

fDate

June 30 2010-July 2 2010

Firstpage

4193

Lastpage

4198

Abstract

This paper considers a fixed-point realization of approximate stable inversion of systems with non-minimum phase zeros. It is based on the efficient linear phase IIR filter implementation first introduced by Powell and Chau. The proposed filter is used in inversion based feedforward tracking and repetitive controllers which is realized by a Field Programmable Gate Array to control a piezoelectric actuator and generate precise dynamic high bandwidth motion at a 100 kHZ sampling rate.

Keywords

IIR filters; feedforward; field programmable gate arrays; piezoelectric actuators; approximate dynamic inversion compensators; approximate stable inversion; feedforward tracking; field programmable gate array; fixed-point realization; frequency 100 kHz; linear phase IIR filter; nonminimum phase system; nonminimum phase zeros; piezoelectric actuator; repetitive controller; Control systems; Dynamic range; Field programmable gate arrays; Finite impulse response filter; IIR filters; Motion control; Nonlinear filters; Piezoelectric actuators; Poles and zeros; Sampling methods;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2010

Conference_Location

Baltimore, MD

ISSN

0743-1619

Print_ISBN

978-1-4244-7426-4

Type

conf

DOI

10.1109/ACC.2010.5530592

Filename

5530592