This paper describes an adaptive feedforward controller to let the output of a plant with stable and unstable zeros track a time varying desired output. The dynamics of the closed loop system consisting of the plant and the feedback controller are assumed unknown or slowly varying due to changes on the plant parameters. In the control scheme proposed in this paper, the feedforward controller is adaptive while the feedback controller is fixed under the assumption that the closed loop system remains stable at all times. With a few samples of future reference input data available, the preview action of the adaptive feedforward controller cancels the phase lag caused by the closed loop dynamics and attains the zero phase error tracking performance (i.e., the plant output is in phase with any sinusoidal desired output) asymptotically.
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December 1987
Research Papers
Adaptive Zero Phase Error Tracking Algorithm for Digital Control
Tsu-Chin Tsao,
Tsu-Chin Tsao
Department of Mechanical Engineering, University of California, Berkeley, CA 94720
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Masayoshi Tomizuka
Masayoshi Tomizuka
Department of Mechanical Engineering, University of California, Berkeley, CA 94720
Search for other works by this author on:
Tsu-Chin Tsao
Department of Mechanical Engineering, University of California, Berkeley, CA 94720
Masayoshi Tomizuka
Department of Mechanical Engineering, University of California, Berkeley, CA 94720
J. Dyn. Sys., Meas., Control. Dec 1987, 109(4): 349-354 (6 pages)
Published Online: December 1, 1987
Article history
Received:
November 1, 1985
Online:
July 21, 2009
Citation
Tsao, T., and Tomizuka, M. (December 1, 1987). "Adaptive Zero Phase Error Tracking Algorithm for Digital Control." ASME. J. Dyn. Sys., Meas., Control. December 1987; 109(4): 349–354. https://doi.org/10.1115/1.3143866
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