Phase compensation of tracking control using delays of feedback system
Date of Original Version
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.
Mediterranean Journal of Measurement and Control
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