In this paper, a precision tracking control scheme for linear discrete time nonminimum-phase systems is proposed. This control scheme consists of a preview filter, a tracking-performance filter, a command feedforward controller, and a feedback controller. A command feedforward controller, whose design is based on the minimal order inverse model of the plant being controlled, will result in a completely decoupled system. The preview filter is introduced to compensate the phase and gain errors induced by the nonminimum phase zeros or lightly damped zeros of the system. Using the command feedforward controller along with the proposed preview filter, the tracking performance of the proposed control scheme can be characterized by the frequency response of the tracking-performance filter. For the design of the preview filter, a generalized Nth order preview filter and its associated penalty function that quantifies the tracking error of a design are defined. It is shown that, given the desired bandwidth and the order of the preview filter, the optimal solution for the design of the preview filter can be obtained explicitly. The proposed control scheme together with the optimal preview filter is shown to be very effective in achieving precision tracking control of discrete time MIMO nonminimum phase systems. It is also shown that the tracking performance is improved as the order N of the preview filter is increased.
Skip Nav Destination
Article navigation
June 1993
Research Papers
Precision Tracking Control of Discrete Time Nonminimum-Phase Systems
Chia-Hsiang Menq,
Chia-Hsiang Menq
Department of Mechanical Engineering, The Ohio State University, Columbus, Ohio 43210
Search for other works by this author on:
Jin-jae Chen
Jin-jae Chen
Department of Mechanical Engineering, The Ohio State University, Columbus, Ohio 43210
Search for other works by this author on:
Chia-Hsiang Menq
Department of Mechanical Engineering, The Ohio State University, Columbus, Ohio 43210
Jin-jae Chen
Department of Mechanical Engineering, The Ohio State University, Columbus, Ohio 43210
J. Dyn. Sys., Meas., Control. Jun 1993, 115(2A): 238-245 (8 pages)
Published Online: June 1, 1993
Article history
Received:
September 12, 1991
Revised:
February 14, 1992
Online:
March 17, 2008
Citation
Menq, C., and Chen, J. (June 1, 1993). "Precision Tracking Control of Discrete Time Nonminimum-Phase Systems." ASME. J. Dyn. Sys., Meas., Control. June 1993; 115(2A): 238–245. https://doi.org/10.1115/1.2899027
Download citation file:
Get Email Alerts
Offline and Online Exergy-Based Strategies for Hybrid Electric Vehicles
J. Dyn. Sys., Meas., Control (May 2025)
Multi Combustor Turbine Engine Acceleration Process Control Law Design
J. Dyn. Sys., Meas., Control
A Distributed Layered Planning and Control Algorithm for Teams of Quadrupedal Robots: An Obstacle-Aware Nonlinear Model Predictive Control Approach
J. Dyn. Sys., Meas., Control (May 2025)
Active Data-Enabled Robot Learning of Elastic Workpiece Interactions
J. Dyn. Sys., Meas., Control (May 2025)
Related Articles
Designing Robust Repetitive Controllers
J. Dyn. Sys., Meas., Control (December,2004)
Real Time Estimation of Elastic Deformation for End-Point Tracking Control of Flexible Two-Link Manipulators
J. Dyn. Sys., Meas., Control (September,1993)
Robust Perfect Tracking Control With Discrete Sliding Mode Controller
J. Dyn. Sys., Meas., Control (March,2003)
Dynamic Neural Network-Based Output Feedback Tracking Control for Uncertain Nonlinear Systems
J. Dyn. Sys., Meas., Control (July,2017)
Related Proceedings Papers
Related Chapters
A Novel Approach for LFC and AVR of an Autonomous Power Generating System
International Conference on Mechanical Engineering and Technology (ICMET-London 2011)
Norms of Feedback Systems
Robust Control: Youla Parameterization Approach
Graphical Methods for Control Systems
Introduction to Dynamics and Control in Mechanical Engineering Systems