Delay-based design of feedforward tracking control for predictable embedded platforms

This paper presents a design technique for feedforward tracking control targeting predictable embedded platforms. An embedded control implementation experiences sensor-to-actuator delay which in turn changes the location of the system zeros. In this work, we show that such delay changes the number of unstable zeros which influences the tracking performance. We propose a zero loci analysis with respect to the delay and identify delay regions which potentially improve tracking performance. We utilize the analysis results to improve tracking performance of implementations targeting modern predictable embedded architectures where the delay can be precisely regulated. We validate our results by simulation and hardware-in-the-loop (HIL) implementation considering a real-life motion system.