Continuous zero phase error tracking controller with gain error compensation

In this paper, a trajectory control strategy for a nonminimum phase system is proposed. A continuous-time version of the zero phase error tracking controller (ZPETC), that is a well-known discrete-time feedforward controller for tracking control of a nonminimum phase system, is derived. The performance of the continuous ZPETC is further enhanced by adopting a specially designed sinusoidal trajectory to compensate gain error. The sinusoidal trajectory has a synergic effect on tracking performance when combined with the continuous ZPETC. Continuous ZPETC with sinusoidal trajectory is evaluated successfully by applying to a nonminimum phase, single link flexible arm