scholarly journals Unknown Disturbance Estimator Design for Non-minimum Phase Systems Using Parallel Feedforward Model and Verification by Experiments

2017 ◽  
Vol 53 (2) ◽  
pp. 152-161
Author(s):  
Masaya TANEMURA ◽  
Yuichi CHIDA ◽  
Shota SEKIGUCHI ◽  
Hiroyuki KOBAYASHI
Keyword(s):  
Minimum Phase ◽  
Phase Systems ◽  
Unknown Disturbance ◽  
Estimator Design ◽  
Disturbance Estimator

Unknown Disturbance Estimator Design for Non-Minimum Phase Plants Using Parallel Feed-Forward Model

2013 ◽  
Author(s):  
Yuichi Chida ◽  
Shota Sekiguchi ◽  
Hiroyuki Kobayashi ◽  
Yuichi Ikeda
Keyword(s):  
Design Method ◽  
Minimum Phase ◽  
Parallel Model ◽  
The Real ◽  
Disturbance Estimation ◽  
Virtual Plant ◽  
Estimation Signal ◽  
Unknown Disturbance ◽  
Disturbance Estimator ◽  
Real Plant

A novel design method of an unknown disturbance observer for non-minimum phase plants is proposed in the present paper. In order to improve the estimation performance, we introduce the approach as a virtual augmented plant by adding a parallel model to the non-minimum phase real plant. The parallel model is designed so that the virtual augmented model becomes the minimum phase. Thus, it is possible to design the unknown disturbance estimator for the minimum phase plant but for the non-minimum phase plant. As the result, it is possible to improve the estimation performances. In this case, it is important to clarify the relationship between the unknown disturbance estimation signal for the real plant and the virtual augmented plant. In the present paper, the unknown disturbance estimation signal of the real plant is re-constructed by using the disturbance estimation of the virtual plant. And the parallel model design method is also proposed. The effectiveness of the proposed method is verified by numerical simulations for several mechanical vibration systems. The results show that the proposed method can improve estimation performances in comparison with conventional methods.

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

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.

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