Abstract
With disturbance feedforward compensation (DFC), input disturbances are measured and compensated to cancel the effect of the disturbance. Perfect cancellation is not possible in practice due to the causal nature of DFC, in which the compensation generally comes too late. Therefore, non-perfect plant inversion, controller discretization and sensor dynamics lead to a non-zero residual error. The properties of this residual error are described in the frequency domain using a theoretical framework that is closely related to the design constraints known from filtering theory. It is shown that, like in feedback control systems, performance limitations of DFC systems are described by a waterbed effect. An experimental validation is included to demonstrate the properties of the residual error on an active hard-mounted vibration isolation setup.
Original language | English |
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Title of host publication | Proceedings of the 2015 American Control Conference (ACC), 1-3 July 2015, Chicago, Illinois |
Place of Publication | Piscataway |
Publisher | Institute of Electrical and Electronics Engineers |
Pages | 2149-2154 |
ISBN (Print) | 978-1-4799-8685-9 |
DOIs | |
Publication status | Published - 2015 |
Event | 2015 American Control Conference, ACC 2015 - Hilton Palmer House, Chicago, United States Duration: 1 Jul 2015 → 3 Jul 2015 http://acc2015.a2c2.org/ |
Conference
Conference | 2015 American Control Conference, ACC 2015 |
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Abbreviated title | ACC 2015 |
Country/Territory | United States |
City | Chicago |
Period | 1/07/15 → 3/07/15 |
Internet address |