Achieving perfect causal feedforward control in presence of nonminimum-phase behavior - exploiting additional actuators and squaring down

Jurgen van Zundert, Fons Luijten, Tom Oomen

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

3 Citations (Scopus)
42 Downloads (Pure)

Abstract

Control performance is limited by nonminimum-phase zeros, for example through the Poisson integral in feedback control and 'unstable' poles in inverse model feedforward control. The aim of this paper is to exploit the additional freedom in overactuated systems to overcome these limitations. In particular, an approach for causal and exact inversion of nonminimum-phase systems is presented for application in inverse model feedforward control. The proposed method is based on the observation that non-square systems often have no invariant zeros. A squaring-down approach is employed to create a square system without nonminimum-phase zeros to enable direct inversion. The proposed approach is successfully demonstrated on a benchmark system. The method enables exact inversion for non-square systems without requiring preview.

Original languageEnglish
Title of host publication2018 American Control Conference (ACC 2018), June 27-29, Milwaukee, Wisconsin
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages6031-6036
Number of pages6
ISBN (Electronic)978-1-5386-5428-6
DOIs
Publication statusPublished - Jun 2018
Event2018 American Control Conference (ACC 2018) - Hilton Milwaukee City Center Hotel, Milwaukee, Wisconsin, United States
Duration: 27 Jun 201829 Jun 2018
http://acc2018.a2c2.org/

Conference

Conference2018 American Control Conference (ACC 2018)
Abbreviated titleACC 2018
CountryUnited States
CityMilwaukee, Wisconsin
Period27/06/1829/06/18
Internet address

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