This paper is concerned with performance enhancement of tracking control systems by multi-rate control. The feedback controller is updated at the same rate as the sampling rate of the output measurements. The feedforward controller processes the desired output signal for high accuracy tracking, and its output is updated at a rate N-times faster than the sampling rate of the output measurements. The discrete time model of the controlled plant may possess unstable zeros, and the zero phase error tracking controller (ZPETC) is used as a feedforward controller. Inter-sample behavior of the plant is included in evaluating the tracking performance of the multi-rate system. Illustrative examples are given to show advantages of the proposed multi-rate feedback/feedforward control scheme.
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e-mail: gyp@me.berkeley.edu
e-mail: tomizuka@me.berkeley.edu
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September 2001
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Multi-Rate Feedforward Tracking Control for Plants With Nonminimum Phase Discrete Time Models
Yuping Gu,
e-mail: gyp@me.berkeley.edu
Yuping Gu
Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA 94720-1740
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Masayoshi Tomizuka
e-mail: tomizuka@me.berkeley.edu
Masayoshi Tomizuka
Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA 94720-1740
Search for other works by this author on:
Yuping Gu
Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA 94720-1740
e-mail: gyp@me.berkeley.edu
Masayoshi Tomizuka
Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA 94720-1740
e-mail: tomizuka@me.berkeley.edu
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS. Manuscript Received by the Dynamics Systems and Control Division March 15, 1999. Associate Editor: P. Voulgaris.
J. Dyn. Sys., Meas., Control. Sep 2001, 123(3): 556-560 (5 pages)
Published Online: March 15, 1999
Article history
Received:
March 15, 1999
Citation
Gu, Y., and Tomizuka, M. (March 15, 1999). "Multi-Rate Feedforward Tracking Control for Plants With Nonminimum Phase Discrete Time Models ." ASME. J. Dyn. Sys., Meas., Control. September 2001; 123(3): 556–560. https://doi.org/10.1115/1.1388013
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