Perfect tracking control based on multirate feedforward controlwith generalized sampling periods
Fujimoto, H.; Hori, Y.; Kawamura, A.
Industrial Electronics, IEEE Transactions on
Volume 48, Issue 3, Jun 2001 Page(s):636 - 644
Digital Object Identifier 10.1109/41.925591
Summary:In this paper, a novel perfect tracking control method based on
multirate feedforward control is proposed. The advantages of the
proposed method are that: (1) the proposed multirate feedforward
controller eliminates the notorious unstable zero problem in designing
the discrete-time inverse system; (2) the states of the plant match the
desired trajectories at every sampling point of reference input; and (3)
the proposed controller is completely independent of the feedback
characteristics. Thus, highly robust performance is assured by the
robust feedback controller. Moreover, by generalizing the relationship
between the sampling period of plant output and the control period of
plant input, the proposed method can be applied to various systems with
hardware restrictions of these periods, which leads to higher
performance. Next, it is shown that the structure of the proposed
perfect tracking controller is very simple and clear. Illustrative
examples of position control using a DC servomotor are presented, and
simulations and experiments demonstrate the advantages of this approach
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