Abstract
In this article, a new approach to output tracking of nonminimum-phase systems is proposed. The proposed technique extends the preview-based stable-inversion method to optimally utilize finite-preview (in time) of the future desired output trajectory to find the feedforward input (called the inverse input) for achieving precision output tracking for nonminimum-phase systems. It has been shown that having a large enough preview time is critical to ensure the precision in the preview-based output tracking. The available preview time, however, can be limited due to the physical constraints, and more generally, the associated cost and/or hardware limits. Therefore, we propose obtaining the optimal preview-based inverse input by minimizing, within the preview time window, the predicted tracking error (under the preview-based inverse input) relative to the input energy. A simulation study on a piezoelectric actuator model is used to illustrate the proposed technique.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 230-237 |
| Number of pages | 8 |
| Journal | Automatica |
| Volume | 45 |
| Issue number | 1 |
| DOIs | |
| State | Published - Jan 2009 |
| Externally published | Yes |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Electrical and Electronic Engineering
Keywords
- Nonminimum-phase systems
- Optimal control
- Output tracking
- Preview-based approach
- Stable-inversion