Trajectory-adaptive digital tracking controllers for non-minimum phase systems without factorisation of zeros

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29 Citations (Scopus)

Abstract

The paper discusses the design of a zero phase error feedforward digital tracking algorithm. The proposed algorithm can be used for minimum or non-minimum phase systems without requiring the zeros polynomial to be factored into minimum and non-minimum phase factors. To improve tracking when the zeros are close to the unit circle, a scheme called trajectory-adaptive zero phase error control is proposed in which the controller parameters are automatically tuned online to the current reference trajectory without requiring explicit information on the function to be tracked. The performance of the trajectory-adaptive controller is further improved by using a look-ahead learning scheme that enables the controller to make advance adjustment in anticipation of the upcoming trajectory.

Original languageEnglish
Pages (from-to)157-162
Number of pages6
JournalIEE Proceedings: Control Theory and Applications
Volume149
Issue number2
DOIs
Publication statusPublished - Mar 2002

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Factorization
factorization
controllers
Trajectories
trajectories
Controllers
phase error
learning
polynomials
adjusting
Polynomials

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Instrumentation

Cite this

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abstract = "The paper discusses the design of a zero phase error feedforward digital tracking algorithm. The proposed algorithm can be used for minimum or non-minimum phase systems without requiring the zeros polynomial to be factored into minimum and non-minimum phase factors. To improve tracking when the zeros are close to the unit circle, a scheme called trajectory-adaptive zero phase error control is proposed in which the controller parameters are automatically tuned online to the current reference trajectory without requiring explicit information on the function to be tracked. The performance of the trajectory-adaptive controller is further improved by using a look-ahead learning scheme that enables the controller to make advance adjustment in anticipation of the upcoming trajectory.",
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AB - The paper discusses the design of a zero phase error feedforward digital tracking algorithm. The proposed algorithm can be used for minimum or non-minimum phase systems without requiring the zeros polynomial to be factored into minimum and non-minimum phase factors. To improve tracking when the zeros are close to the unit circle, a scheme called trajectory-adaptive zero phase error control is proposed in which the controller parameters are automatically tuned online to the current reference trajectory without requiring explicit information on the function to be tracked. The performance of the trajectory-adaptive controller is further improved by using a look-ahead learning scheme that enables the controller to make advance adjustment in anticipation of the upcoming trajectory.

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