Comparison of the feedforward control design methods for nonminimum-phase LTI SISO systems with application to the double-drum coiling machine
[ 1 ] Instytut Automatyki i Robotyki, Wydział Informatyki, Politechnika Poznańska | [ D ] phd student | [ P ] employee
2017
chapter in monograph / paper
english
- tracking control
- trajectory tracking
- reference trajectory
- feedforward controller
- tracking quality
EN Due to the presence of right-half plane zeroes in the transfer function of a nonminimum-phase plant, conventionally designed feedforward controller becomes unstable. Main focus of this article is put on a comparison of the Extended Bandwidth Zero Phase Error and recently proposed fixed-structure approximate inverse feedforward control design methods applicable to the nonminimum-phase systems. Comparison of the techniques presented in the paper is based on the frequency analysis of a closed-loop error transfer function, followed by simulation examples and experimental validation on a laboratory setup with a double-drum coiling machine. Both simulation and experimental results showed the superiority of trajectory tracking obtained by the fixed-structure approximate inverse method under the assumed conditions.
07.06.2017
251 - 260
20
WoS (15)