Approach to relocate sampled zeros for feedforward control application

This paper presents the Taylor expansion of all the zeros of sampled-data systems with respect to the sample time r. Using this expansion, we have developed a method to relocate sampled zeros to facilitate feedforward control based on pole-zero cancellation. The proposed approach has been successfully applied to the feedforward control of a DC motor by using an analog compensator for zero relocation. Illustrative experiments have also been described.