Zero Phase Error Tracking Algorithm for Digital ControlSource: Journal of Dynamic Systems, Measurement, and Control:;1987:;volume( 109 ):;issue: 001::page 65Author:Masayoshi Tomizuka
DOI: 10.1115/1.3143822Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A digital feedforward control algorithm for tracking desired time varying signals is presented. The feedforward controller cancels all the closed-loop poles and cancellable closed-loop zeros. For uncancellable zeros, which include zeros outside the unit circle, the feedforward controller cancels the phase shift induced by them. The phase cancellation assures that the frequency response between the desired output and actual output exhibits zero phase shift for all the frequencies. The algorithm is particularly suited to the general motion control problems including robotic arms and positioning tables. A typical motion control problem is used to show the effectiveness of the proposed feedforward controller.
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contributor author | Masayoshi Tomizuka | |
date accessioned | 2017-05-08T23:24:38Z | |
date available | 2017-05-08T23:24:38Z | |
date copyright | March, 1987 | |
date issued | 1987 | |
identifier issn | 0022-0434 | |
identifier other | JDSMAA-26096#65_1.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/102355 | |
description abstract | A digital feedforward control algorithm for tracking desired time varying signals is presented. The feedforward controller cancels all the closed-loop poles and cancellable closed-loop zeros. For uncancellable zeros, which include zeros outside the unit circle, the feedforward controller cancels the phase shift induced by them. The phase cancellation assures that the frequency response between the desired output and actual output exhibits zero phase shift for all the frequencies. The algorithm is particularly suited to the general motion control problems including robotic arms and positioning tables. A typical motion control problem is used to show the effectiveness of the proposed feedforward controller. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Zero Phase Error Tracking Algorithm for Digital Control | |
type | Journal Paper | |
journal volume | 109 | |
journal issue | 1 | |
journal title | Journal of Dynamic Systems, Measurement, and Control | |
identifier doi | 10.1115/1.3143822 | |
journal fristpage | 65 | |
journal lastpage | 68 | |
identifier eissn | 1528-9028 | |
tree | Journal of Dynamic Systems, Measurement, and Control:;1987:;volume( 109 ):;issue: 001 | |
contenttype | Fulltext |