Disturbance observer-based predictive functional control using zero phase error tracking controller

This paper addresses a two-degree-of-freedom control system design based on the predictive functional control (PFC). The aim of the paper is to improve the tracking performance of the previously-developed disturbance observer-based predictive functional control (DOB-PFC) system. To this end, we apply the zero phase error tracking controller (ZPETC) as a feedforward preview controller. A few experiments using a real table drive system are conducted to compare the proposed control system with the DOB-PFC. The experimental results show that the tracking error is greatly reduced compared to DOB-PFC.