Phase compensation of tracking control using delays of feedback system
Document Type
Article
Date of Original Version
1-1-2014
Abstract
This paper presents the design of a digital tracking control system for minimum phase plants, which results in a plant output that is a pure delay of the reference input. The tracking system consists of a feedback control system, which could be either a proportional integral derivative (PID) or state feedback with additional dynamics, and a feedforward inverse system. The inverse system can be designed using the zero phase error tracking control, which is denoted by ZPETC or by a state-space feedforward inverse filter, which we denote by FIF. The FIF equations are derived and, unlike ZPETC, can be evaluated even for a system with zeros inside the unit circle, located on the negative real axis, close to -1 and at z = 1. In both simulations and hardware experiments with a DC motor, the best tracking performance was achieved using a state feedback control with FIF. The proposed design procedure is simple and easy to implement.
Publication Title, e.g., Journal
Mediterranean Journal of Measurement and Control
Volume
10
Issue
2
Citation/Publisher Attribution
Boudria, Yacine, Richard J. Vaccaro, and Musa K. Jouanehb. "Phase compensation of tracking control using delays of feedback system." Mediterranean Journal of Measurement and Control 10, 2 (2014): 235-243. https://digitalcommons.uri.edu/ele_facpubs/1137
