Nonminimum phase adaptive inverse control for settle performance applications

Nonminimum Phase Adaptive Inverse Control for Settle Performance Applications

Single-track hard disk drive (HDD) seek performance is measured by settle time, ts, defined as the time from the arrival of a seek command until the measured position reaches and stays within an acceptable distance from the target track. Models of HDD dynamics are typically nonminimum phase (NMP), which complicates control design focused on settle time performance improvements. Our previous wor...

Retrospective Cost Model Reference Adaptive Control for Nonminimum-Phase Systems

T HE objective of model reference adaptive control (MRAC) is to control an uncertain system so that it behaves like a given referencemodel in response to specified referencemodel commands. MRAC has been studied extensively for both continuous-time [1–8] and discrete-time systems [7–12]. In addition, MRAC has been extended to various classes of nonlinear systems [13]. However, the direct adaptiv...

Direct Adaptive Control of Nonminimum Phase Systems Using Integral Action

This paper presents a direct adaptive control scheme for nonminimum phase systems in which controller parameters are estimated from the recursive least-squares algorithm, and additional auxiliary parameters are obtained from the proposed polynomial identity. A local convergence is guaranteed without any extra condition. Integral action is incorporated into the adaptive controller to eliminate t...

Adaptive control of nonminimum-phase systems using shifted Laurent series

Analysis and Comparison of Three Discrete-Time Feedforward Model-Inverse Control Techniques for Nonminimum-Phase Systems

Noncollocated sensors and actuators, and/or fast sample rates with plants having high relative degree, can lead to nonminimumphase (NMP) discrete-time zero dynamics that complicate the control system design. In this paper, we examine three stable approximate model-inverse feedforward control techniques, the nonminimum-phase zeros ignore (NPZ-Ignore), the zero-phaseerror tracking controller (ZPE...