A feedforward controller by modified series approximation

Author

Choi, Byeong-Kap ; Choi, Chong-Ho

Author_Institution

Sch. of Electr. Eng., Seoul Nat. Univ., South Korea

Volume

3

Issue

3

fYear

1998

fDate

9/1/1998 12:00:00 AM

Firstpage

249

Lastpage

251

Abstract

A new pole-zero cancellation technique using a modified series approximation is proposed for the feedforward controller. The gain of the system with the proposed feedforward controller is close to 1 for up to relatively high frequency. The tracking error of this method depends on the pth-order difference of the desired trajectory. The method is effective when the closed-loop system has unstable zeros in the left-half plane of the z plane close to the unit circle. The tracking errors are analyzed in terms of the location of an unstable zero and the reference trajectory. The effectiveness of the proposed method is shown in the simulation

Keywords

approximation theory; closed loop systems; feedforward; poles and zeros; position control; series (mathematics); stability; tracking; closed-loop system; feedforward controller; nonminimum phase systems; pole-zero cancellation; series approximation; tracking error; trajectory tracking; unit circle; Algorithm design and analysis; Approximation algorithms; Control systems; Error analysis; Error correction; Frequency response; Optimal control; Poles and zeros; Trajectory; Transfer functions;

fLanguage

English

Journal_Title

Mechatronics, IEEE/ASME Transactions on

Publisher

ieee

ISSN

1083-4435

Type

jour

DOI

10.1109/3516.712121

Filename

712121