Title

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

Mediterranean Journal of Measurement and Control

Volume

10

Issue

2

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