On Transfer Function Zeros of General Colocated Control Systems With Mechanical Flexibilities

Abstract

In our previous work, it was shown that for simple control systems with mechanical flexibilities such as spring-mass systems or uniform cross-section linear elastic beams, the complex conjugate transfer function zeros can be interpreted as the resonances of a sub-portion of the flexible structure with additional constraints imposed by the sensor and actuator. In this paper, the aforementioned intuitive physical observation is verified mathematically for general lumped and distributed parameter flexible control systems with colocated sensor/actuator.