A controller design for reference signal with the N-th power of time

In this paper, we propose a new controller design method, where the identification technique, which directly acquires any order of reduced model, is applied to the feedforward controller design composed of time delays and inverse dynamics of a controlled object. By applying the proposed controller, the tracking error with reference signal of the N-th power of t becomes zero when the future reference signal is available. The resulting system has neither deterioration in the feedback characteristics nor increase in the tuning man-hour because feedforward controllers do not affect the feedback characteristics and the feedback controller can be designed with the accumulated know-how.