Title :
Trajectory tracking control method based on zero-phase minimum-phase factorization for nonminimum-phase continuous-time system
Author :
Shiraishi, Takayuki ; Fujimoto, Hiroshi
Author_Institution :
Univ. of Tokyo, Kashiwa, Japan
Abstract :
The purpose of this paper is development of high-precision trajectory tracking control for nonminimum-phase continuous-time systems with unstable zeros. This paper proposes a two degree of freedom control system design method that is based on a novel factorization method for nonminimum-phase continuous-time systems. First, nonminimum-phase continuous-time systems is factorized to minimum-phase system and zero-phase system in continuous-time domain. The feedforward controller is constructed from inverse system of each factorized system. The inverse system of the minimum-phase system is designed by multi-rate perfect model following control theory, and the inverse system of zero-phase system is designed by zero-phase FIR filter. Finally, This paper shows the effectiveness of proposed method by simulation and experimental results.
Keywords :
FIR filters; continuous time systems; control engineering computing; control system synthesis; feedforward; matrix decomposition; motion control; position control; control system design method; factorization method; feedforward controller; finite impulse response filter; minimum-phase system; motion control; multirate perfect model following control theory; nonminimum-phase continuous-time system; trajectory tracking control method; two degree-of-freedom control system; unstable zero; zero-phase FIR filter; zero-phase minimum-phase factorization; zero-phase system; Conferences; Feedforward neural networks; Gain; Generators; Time frequency analysis; Trajectory;
Conference_Titel :
Advanced Motion Control (AMC), 2012 12th IEEE International Workshop on
Conference_Location :
Sarajevo
Print_ISBN :
978-1-4577-1072-8
Electronic_ISBN :
978-1-4577-1071-1
DOI :
10.1109/AMC.2012.6197148
