A trajectory control strategy for a nonminimum phase system is proposed. A continuous-time version of the Zero Phase Error Tracking Controller (ZPETC), which is a well-known discrete-time feedforward controller, is considered. In the continuous-time case, the overall transfer function consisting of the ZPETC and the closed-loop plant exhibits high-pass filter characteristics. This introduces serious gain errors between the desired and actual output if the desired output is made directly as the ZPETC’s input. This paper proposes the use of a specially designed sinusoidal trajectory to compensate for the gain errors. The sinusoidal trajectory imparts a synergic effect to tracking performance when combined with the continuous ZPETC. Continuous ZPETC with sinusoidal trajectory is evaluated successfully by applying to a nonminimum phase plant, single link flexible arm.
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e-mail: james@kaist.ac.kr
e-mail: phchang@mecha.kaist.ac.kr
e-mail: leedy@kaist.ac.kr
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March 2001
Technical Briefs
Concurrent Design of Continuous Zero Phase Error Tracking Controller and Sinusoidal Trajectory for Improved Tracking Control
Hyung-Soon Park, Graduate Student,
e-mail: james@kaist.ac.kr
Hyung-Soon Park, Graduate Student
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Kusong-dong, Yusong-gu, Taejon, Korea
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Pyung Hun Chang, Associate Professor,
e-mail: phchang@mecha.kaist.ac.kr
Pyung Hun Chang, Associate Professor
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Kusong-dong, Yusong-gu, Taejon, Korea
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Doo Yong Lee, Assistant Professor
e-mail: leedy@kaist.ac.kr
Doo Yong Lee, Assistant Professor
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Kusong-dong, Yusong-gu, Taejon, Korea
Search for other works by this author on:
Hyung-Soon Park, Graduate Student
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Kusong-dong, Yusong-gu, Taejon, Korea
e-mail: james@kaist.ac.kr
Pyung Hun Chang, Associate Professor
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Kusong-dong, Yusong-gu, Taejon, Korea
e-mail: phchang@mecha.kaist.ac.kr
Doo Yong Lee, Assistant Professor
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Kusong-dong, Yusong-gu, Taejon, Korea
e-mail: leedy@kaist.ac.kr
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS. Manuscript received by the Dynamics Systems and Control Division November 11, 1998. Associate Editor: E. Misawa.
J. Dyn. Sys., Meas., Control. Mar 2001, 123(1): 127-129 (3 pages)
Published Online: November 11, 1998
Article history
Received:
November 11, 1998
Citation
Park , H., Chang, P. H., and Lee, D. Y. (November 11, 1998). "Concurrent Design of Continuous Zero Phase Error Tracking Controller and Sinusoidal Trajectory for Improved Tracking Control ." ASME. J. Dyn. Sys., Meas., Control. March 2001; 123(1): 127–129. https://doi.org/10.1115/1.1343464
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