A bang-bang, disturbance rejection algorithm for double integrator systems

An existing sampled-data control algorithm for double integrator systems with pre-determined inter-sample behavior is generalized to incorporate disturbance rejection in addition to command tracking. The proposed control system comprises an inner velocity control loop and an outer position control loop. A discrete-time compensator is used to regulate velocity and reject step disturbance in acceleration due to forces or moments on the system. The outer loop produces a pre-determined, piecewise constant (bang-bang) signal proportional to the position tracking error that defines the desired inter-sample position and velocity behavior. Simulation results of the disturbance rejection performance are presented.