Repetitive control of non-minimum phase systems along B-spline trajectories

2016 ◽  
Author(s):  
Luigi Biagiotti ◽  
Federico Califano ◽  
Claudio Melchiorri
Keyword(s):  
Repetitive Control ◽  
Minimum Phase ◽  
B Spline ◽  
Phase Systems

Tracking Control of Non-Minimum Phase Systems Using Filtered Basis Functions: A NURBS-Based Approach

2015 ◽  
Author(s):  
Molong Duan ◽  
Keval S. Ramani ◽  
Chinedum E. Okwudire
Keyword(s):  
Tracking Control ◽  
Phase Error ◽  
Approximate Model ◽  
Basis Functions ◽  
Minimum Phase ◽  
Tracking Errors ◽  
Model Inversion ◽  
B Spline ◽  
Phase Systems ◽  
Zero Phase

This paper proposes an approach for minimizing tracking errors in systems with non-minimum phase (NMP) zeros by using filtered basis functions. The output of the tracking controller is represented as a linear combination of basis functions having unknown coefficients. The basis functions are forward filtered using the dynamics of the NMP system and their coefficients selected to minimize the errors in tracking a given trajectory. The control designer is free to choose any suitable set of basis functions but, in this paper, a set of basis functions derived from the widely-used non uniform rational B-spline (NURBS) curve is employed. Analyses and illustrative examples are presented to demonstrate the effectiveness of the proposed approach in comparison to popular approximate model inversion methods like zero phase error tracking control.

scholarly journals Repetitive control design based on forwarding for nonlinear minimum-phase systems

Automatica ◽  
2021 ◽  
Vol 129 ◽  
pp. 109671
Author(s):  
Daniele Astolfi ◽  
Swann Marx ◽  
Nathan van de Wouw
Keyword(s):  
Repetitive Control ◽  
Control Design ◽  
Minimum Phase ◽  
Phase Systems

scholarly journals Decentralized control of sequentially minimum phase systems

1999 ◽  
Vol 44 (10) ◽  
pp. 1909-1913 ◽  
Author(s):  
K.H. Johansson ◽  
A. Rantzer
Keyword(s):  
Decentralized Control ◽  
Minimum Phase ◽  
Phase Systems
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