Adaptive zero-phase error-tracking controllers with advance learning

Mohd. Marzuki Mustafa, N. R. Yaacob, N. A Nik Mohamed

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

Although it is not difficult to design a phase compensation filter to achieve zero-phase error at all frequencies, designing a gain compensation filter for overall unity gain at all frequencies using a fixed controller is more difficult or even impossible to achieve. This article describes an adaptive algorithm that adaptively adjusts the controller parameters to suit the trajectory signal. The algorithm can be used for both minimum and nonminimum systems. Taking full advantage of the ability to preview the reference trajectory, tuning of the gain compensation filter can be made in advance to further reduce the tracking error when there are changes in the dominant frequency component of the trajectory signal. The advance learning can be done completely before the actual run, and appropriate controller parameters are simply recalled during the actual run to minimize the real-time computation. Advance learning can also be done during the actual run by running the estimator ahead of time to ensure faster convergence: hence there will be smaller tracking error when there are changes in the pattern of the reference trajectory. This look-ahead learning can significantly improve the tracking error.

Original languageEnglish
Pages (from-to)116-125
Number of pages10
JournalControl and Intelligent Systems
Volume32
Issue number2
Publication statusPublished - 2004

Fingerprint

Trajectories
Controllers
Adaptive algorithms
Tuning
Compensation and Redress

Keywords

  • Adaptive control
  • Noniminimum phase
  • Tracking controller
  • Zero-phase error

ASJC Scopus subject areas

  • Hardware and Architecture
  • Control and Systems Engineering

Cite this

Adaptive zero-phase error-tracking controllers with advance learning. / Mustafa, Mohd. Marzuki; Yaacob, N. R.; Mohamed, N. A Nik.

In: Control and Intelligent Systems, Vol. 32, No. 2, 2004, p. 116-125.

Research output: Contribution to journalArticle

Mustafa, Mohd. Marzuki ; Yaacob, N. R. ; Mohamed, N. A Nik. / Adaptive zero-phase error-tracking controllers with advance learning. In: Control and Intelligent Systems. 2004 ; Vol. 32, No. 2. pp. 116-125.
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