Proceedings ArticleDOI
Precision Tracking Control of Discrete Time Nonminimum-Phase Systems
Chia-Hsiang Menq,Jin-jae Chen +1 more
- Iss: 29, pp 1097-1101
TLDR
The proposed control scheme together with the optimal Preview filter is shown to be very effective in achieving precision tracking control of discrete time MIMO non-minimum phase systems and the tracking performance is improved as the order of the the preview filter is increased.Abstract:
In this paper, a precision tracking control scheme for linear discrete time non-minimum phase systems is proposed. This control scheme consists of a preview filter, a tracking-performance filter, a command feedforward controller, and a feedback controller. The use of the command feedforward controller, whose design is based on the minimal order inverse model of the plant being controlled, will result in a completely decoupled system. The preview filter is introduced to compensate the phase and gain errors induced by the non-minimum phase zeros or lightly damped zeros of the system. Using the command feedforward controller along with the proposed preview filter, the tracking performance of the proposed control scheme can be characterized by the frequency response of the the tracking-performance filter. For the design of the preview filter, a generalized Nth order preview filter and its associated penalty function that quantifies the tracking error of a design are defined. It is shown that, given the desired bandwidth and the order of the preview filter, the optimal solution for the design of the preview filter can be obtained explicitly. The proposed control scheme together with the optimal preview filter is shown to be very effective in achieving precision tracking control of discrete time MIMO non-minimum phase systems. It is also shown that the tracking performance is improved as the order of the the preview filter is increased.read more
Citations
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Journal ArticleDOI
Hysteresis compensation in electromagnetic actuators through Preisach model inversion
S. Mittal,Chia-Hsiang Menq +1 more
TL;DR: In this paper, the classical Preisach independent domain model is used to capture the essential characteristics of hysteresis nonlinearity in electromagnetic actuators made of soft ferromagnetic material.
Journal ArticleDOI
An optimal and adaptive design of the feedforward motion controller
Syh-Shiuh Yeh,Pau-Lo Hsu +1 more
TL;DR: Compared with the other adaptive approaches, the optimal concept is used in the present adaptive ZPETC, and it also renders more accurate results because of its improved magnitude response.
Journal ArticleDOI
Analysis and design of the integrated controller for precise motion systems
Syh-Shiuh Yeh,Pau-Lo Hsu +1 more
TL;DR: Experimental results show that the proposed integrated controller renders significantly improved accuracy in both tracking and contouring.
Journal ArticleDOI
Precision tracking control of non-minimum phase systems with zero phase error
Jack Zhijie Xia,Chia-Hsiang Menq +1 more
TL;DR: In this paper, a method is proposed for designing the command feedforward controller for zero phase error tracking control of systems having unacceptable zeros, which include both non-minimum phase zeros and lightly damped zeros.
Proceedings Article
A New Approach to Biaxial Cross-coupled Control
Syh-Shiuh Yeh,Pau-Lo Hsu +1 more
TL;DR: A new approach to CCC is proposed to efficiently reduce the computation of cross-coupling gains for arbitrary contour commands and the contouring error vector is used here to derive the new CCC approach.
References
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Journal ArticleDOI
Zero Phase Error Tracking Algorithm for Digital Control
TL;DR: In this article, a digital feed-forward control algorithm for tracking desired time varying signals is presented, which is particularly suited to the general motion control problems including robotic arms and positioning tables.
Journal ArticleDOI
Paper: Zeros of sampled systems
TL;DR: The zeros of the discrete time system obtained when sampling a continuous time system are explored and theorems for the limiting zeros for large and small sampling periods are given.
Journal ArticleDOI
The Effect of Adding Zeroes to Feedforward Controllers
B. Haack,Masayoshi Tomizuka +1 more
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Precision Tracking Control of Discrete Time Nonminimum-Phase Systems
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