Multi-rate Feedforward Tracking Control for Plants with Nonminimum Phase Discrete Time Models
نویسندگان
چکیده
Nonminimum Phase Discrete Time Models Yuping Gu and Masayoshi Tomizuka Department of Mechanical Engineering University of California at Berkeley, Berkeley, CA 94720-1740 [email protected] [email protected] Abstract This paper is concerned with performance enhancement of tracking control systems by multi-rate control. The feedback controller is updated at the same rate as the sampling rate of the output measurements. The feedforward controller processes the desired output signal for high accuracy tracking, and its output is updated at a rate N-times faster than the sampling rate of the output measurements. The discrete time model of the controlled plant may possess unstable zeros, and the zero phase error tracking controller (ZPETC) is used as a feedforward controller. Inter-sample behavior of the plant is included in evaluating the tracking performance of the multi-rate system. Illustrative examples are given to show advantages of the proposed multi-rate feedback/feedforward control scheme. keyword: multi-rate control, feedforward control, digital control
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