On Coordinated Feedforward Excitation of Nonlinear Servomechanisms

In an earlier paper, the authors introduced the idea of using higher-order spectral information for shaping the loop response in nonlinear servomechanisms. The design procedure was embodied in the multidimensional transfer functions associated with Volterra representations of the plant and its compensation. This paper extends the scope of the procedure by implementing higher-order, feedforward prefilters to excite the loop. The method is systematic in both design and realization of higher-order feedforward dynamics, and offers a potential advantage in nonlinear servomechanism performance as illustrated in a tandem motor-generator example.