Zero Phase Error Tracking Algorithm for Digital Control

[+] Author and Article Information
Masayoshi Tomizuka

Department of Mechanical Engineering, University of California, Berkeley, CA 94720

J. Dyn. Sys., Meas., Control 109(1), 65-68 (Mar 01, 1987) (4 pages) doi:10.1115/1.3143822 History: Received November 10, 1986; Online July 21, 2009


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.

Copyright © 1987 by ASME
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