Exact and causal inversion of nonminimum-phase systems: A squaring-down approach for overactuated systems

Jurgen C.D. van Zundert (Corresponding author), Fons Luijten, Tom Oomen

Research output: Contribution to journalArticleAcademicpeer-review

1 Citation (Scopus)
40 Downloads (Pure)

Abstract

Nonminimum-phase zeros pose challenges for controller design, i.e., in inversion-based control approaches where inverting these zeros may result in “unstable” poles. The aim of this paper is to exploit the additional freedom in overactuated systems to eliminate these zeros, facilitating subsequent inversion. In particular, an approach for causal and exact inversion of systems with nonminimum-phase behavior is presented. In an either static or dynamic squaring-down step prior to inversion, the approach exploits the fact that nonsquare systems typically have no invariant zeros. The proposed approach is successfully demonstrated in experiments on an overactuated motion system. The method enables exact inversion for nonsquare systems without requiring preview or preactuation.
Original languageEnglish
Article number8861146
Pages (from-to)2953-2963
Number of pages11
JournalIEEE/ASME Transactions on Mechatronics
Volume24
Issue number6
DOIs
Publication statusPublished - Dec 2019

Keywords

  • Causal feedforward
  • nonminimum-phase behavior
  • overactuation
  • squaring down
  • tracking control

Fingerprint Dive into the research topics of 'Exact and causal inversion of nonminimum-phase systems: A squaring-down approach for overactuated systems'. Together they form a unique fingerprint.

Cite this