An adaptive tracking control system with 2-delay feedforward compensators

Author

Mizuno, Naoki

Author_Institution

Dept. of Mech. Eng., Nagoya Inst. of Technol., Nagoya, Japan

fYear

1997

fDate

1-7 July 1997

Firstpage

1568

Lastpage

1574

Abstract

An adaptive tracking control system which combines the 1-delay feedback controller and 2-delay feedforward compensator is proposed. For plants with arbitrary zeros, the 2-delay feedforward compensator modifies the unstable zeros and cancels all poles and modified zeros of the controlled plant. This pole-zero cancellation assures the actual output perfectly tracks to the time-varying signals at the each sampling instances. In the control scheme, the feedforward compensator is used only for tracking compensation, while the feedback controller is used for regulation. With a simple modification of zero assign law in feedforward compensator, the input amplitude can be controlled and attains the 1-delay characteristics for steady state.

Keywords

adaptive control; delays; feedback; feedforward; poles and zeros; time-varying systems; 1-delay feedback controller; 2-delay feedforward compensator; adaptive tracking control system; arbitrary zeros; control scheme; input amplitude; pole-zero cancellation; sampling instances; steady state; time-varying signals; tracking compensation; unstable zeros; zero assign law modification; Adaptation models; Adaptive control; Control systems; Feedforward neural networks; Mathematical model; Polynomials; adaptive control; discrete-time control; feedforward compensation; pole placement control; servo system;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 1997 European

Conference_Location

Brussels

Print_ISBN

978-3-9524269-0-6

Type

conf

Filename

7082326