-spline-decomposition-based output tracking with preview for nonminimum-phase linear systems

Automatica ◽  
2013 ◽  
Vol 49 (5) ◽  
pp. 1295-1303 ◽  
Author(s):  
Haiming Wang ◽  
Kyongsoo Kim ◽  
Qingze Zou
Keyword(s):  
Linear Systems ◽  
Nonminimum Phase ◽  
Output Tracking

Preview-Based Stable-Inversion for Output Tracking of Linear Systems

1999 ◽  
Vol 121 (4) ◽  
pp. 625-630 ◽  
Author(s):  
Qingze Zou ◽  
Santosh Devasia
Keyword(s):  
Linear Systems ◽  
Tracking Error ◽  
High Accuracy ◽  
Nonminimum Phase ◽  
Output Tracking ◽  
Stable Inversion ◽  
Nonminimum Phase Systems ◽  
Phase Systems ◽  
Inversion Techniques ◽  
Planning Problems

Stable Inversion techniques can be used to achieve high-accuracy output tracking. However, for nonminimum phase systems, the inverse is noncausal—hence the inverse has to be precomputed using a prespecified desired-output trajectory. This requirement for prespecification of the desired output restricts the use of inversion-based approaches to trajectory planning problems (for nonminimum phase systems). In the present article, it is shown that preview information of the desired output can be used to achieve online inversion-based output-tracking of linear systems. The amount of preview-time needed is quantified in terms of the tracking error and the internal dynamics of the system (zeros of the system). The methodology is applied to the online output tracking of a flexible structure and experimental results are presented.

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