Adaptive Zero Phase Error Tracking Algorithm for Digital Control

1987 ◽  
Vol 109 (4) ◽  
pp. 349-354 ◽  
Author(s):  
Tsu-Chin Tsao ◽  
Masayoshi Tomizuka
Keyword(s):  
Closed Loop ◽  
Phase Error ◽  
Feedback Controller ◽  
Loop System ◽  
Phase Lag ◽  
Closed Loop System ◽  
Loop Dynamics ◽  
Feedforward Controller ◽  
Adaptive Feedforward ◽  
Zero Phase

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.

scholarly journals Finite Sample Properties for Closed Loop System Identification

2021 ◽  
Vol 20 ◽  
pp. 157-169
Author(s):  
Wang Jianhong ◽  
Chen Peng ◽  
Ricardo A. Ramirez-Mendoza
Keyword(s):  
System Identification ◽  
Asymptotic Analysis ◽  
Closed Loop ◽  
Feedback Controller ◽  
Loop System ◽  
Finite Sample ◽  
Closed Loop System ◽  
Optimal Feedback ◽  
Identification Criterion ◽  
Finite Sample Properties

In this paper, after closed loop system identification is reviewed, asymptotic analysis and finite sample analysis for closed loop system identification are studied respectively, corresponding to the infinite data and finite data. More specifically, within the framework of infinite data, the cost function is modified to its simplified form, and one optimal feedback controller is obtained based on our own derivations. The simplified cost function and optimal feedback controller are benefit for practical application. Furthermore, the asymptotic variance of that optimal feedback controller is also yielded from the point of asymptotic analysis. In the case of finite data, finite sample properties are constructed for closed loop system identification, then one difference between the sampled identification criterion and its corresponding expected criterion is derived as an explicit form, which can bound one guaranteed interval for the sampled identification criterion. Finally, one simulation example is used to prove the efficiency of our proposed theories.

scholarly journals Boundary Stabilization of Heat Equation with Multi-Point Heat Source

Mathematics ◽  
2021 ◽  
Vol 9 (8) ◽  
pp. 834
Author(s):  
Qing-Qing Hu ◽  
Feng-Fei Jin ◽  
Bao-Qiang Yan
Keyword(s):  
Heat Source ◽  
Heat Equation ◽  
Exponential Stability ◽  
Output Feedback ◽  
Closed Loop ◽  
Feedback Controller ◽  
Loop System ◽  
Boundary Stabilization ◽  
Closed Loop System ◽  
Point Heat Source

In this paper, we consider boundary stabilization problem of heat equation with multi-point heat source. Firstly, a state feedback controller is designed mainly by backstepping approach. Under the designed state controller, the exponential stability of closed-loop system is guaranteed. Then, an observer-based output feedback controller is proposed. We prove the exponential stability of resulting closed-loop system using operator semigroup theory. Finally, the designed state and output feedback controllers are effective via some numerical simulations.

The Effect of Adding Zeroes to Feedforward Controllers

1991 ◽  
Vol 113 (1) ◽  
pp. 6-10 ◽  
Author(s):  
B. Haack ◽  
M. Tomizuka
Keyword(s):  
Phase Error ◽  
Feedback System ◽  
Contour Error ◽  
Phase Lag ◽  
Contouring Accuracy ◽  
Feedforward Controller ◽  
Zero Phase

The effect of adding zeroes to two types of feedforward controllers, stable pole zero cancelling (SPZC) controllers and zero phase error tracking (ZPET) contollers, is discussed. When there are uncancellable zeroes in the feedback system, additional zeroes in the feedforward controller can reduce the tracking and/or the contour error. For multi-axis contouring with mismatched axis dynamics, a ZPET controller cancels the phase error and provides good contouring accuracy. With a SPZC controller which does not cancel the phase lag, the axes can be “matched” for equal phase lag by adding zeroes to the feedforward controller.

Zero Phase Error Tracking Algorithm for Digital Control

1987 ◽  
Vol 109 (1) ◽  
pp. 65-68 ◽  
Author(s):  
Masayoshi Tomizuka
Keyword(s):  
Phase Shift ◽  
Motion Control ◽  
Closed Loop ◽  
Feedforward Control ◽  
Phase Error ◽  
Robotic Arms ◽  
Phase Cancellation ◽  
Feedforward Controller ◽  
General Motion ◽  
Zero Phase

A digital feedforward control algorithm for tracking desired time varying signals is presented. The feedforward controller cancels all the closed-loop poles and cancellable closed-loop zeros. For uncancellable zeros, which include zeros outside the unit circle, the feedforward controller cancels the phase shift induced by them. The phase cancellation assures that the frequency response between the desired output and actual output exhibits zero phase shift for all the frequencies. The algorithm is particularly suited to the general motion control problems including robotic arms and positioning tables. A typical motion control problem is used to show the effectiveness of the proposed feedforward controller.

Safety and Performance of the Omnipod®Hybrid Closed-Loop System in Adolescents with Type 1 Diabetes over Five Days Under Free-Living Conditions

Diabetes ◽  
2018 ◽  
Vol 67 (Supplement 1) ◽  
pp. 1376-P
Author(s):  
GREGORY P. FORLENZA ◽  
BRUCE BUCKINGHAM ◽  
JENNIFER SHERR ◽  
THOMAS A. PEYSER ◽  
JOON BOK LEE ◽  
...  
Keyword(s):  
Type 1 Diabetes ◽  
Closed Loop ◽  
Living Conditions ◽  
Loop System ◽  
Closed Loop System ◽  
Free Living ◽  
And Performance ◽  
Free Living Conditions

1066-P: Improvement in Time-in-Range (TIR) with Real-Life Use of Hybrid Closed-Loop System in Patients with Type 1 Diabetes (T1D)

Diabetes ◽  
2019 ◽  
Vol 68 (Supplement 1) ◽  
pp. 1066-P
Author(s):  
HALIS K. AKTURK ◽  
DOMINIQUE A. GIORDANO ◽  
HAL JOSEPH ◽  
SATISH K. GARG ◽  
JANET K. SNELL-BERGEON
Keyword(s):  
Type 1 Diabetes ◽  
Closed Loop ◽  
Real Life ◽  
Loop System ◽  
Closed Loop System ◽  
Time In Range

Safety and Performance of the Omnipod® Hybrid Closed-Loop System in Adults with Type 1 Diabetes over Five Days Under Free-Living Conditions

Diabetes ◽  
2018 ◽  
Vol 67 (Supplement 1) ◽  
pp. 207-OR
Author(s):  
BRUCE A. BUCKINGHAM ◽  
JENNIFER SHERR ◽  
GREGORY P. FORLENZA ◽  
THOMAS A. PEYSER ◽  
JOON BOK LEE ◽  
...  
Keyword(s):  
Type 1 Diabetes ◽  
Closed Loop ◽  
Living Conditions ◽  
Loop System ◽  
Closed Loop System ◽  
Free Living ◽  
And Performance ◽  
Free Living Conditions
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