On Discrete-Time Feedforward Asymptotic Tracking Controllers

[+] Author and Article Information
H. A. Pak, Rowmau Shieh

Department of Mechanical Engineering, University of Southern California, Los Angeles, CA 90089-1453

J. Dyn. Sys., Meas., Control 113(3), 509-514 (Sep 01, 1991) (6 pages) doi:10.1115/1.2896440 History: Received April 01, 1990; Revised October 01, 1990; Online March 17, 2008


A feedforward design formulation for asymptotic tracking controllers is presented for linear multivariable systems under discrete-time control. The control scheme is based upon the use of future set points along reference trajectories with known models. One advantage of the control scheme is that it does not require the derivative states of the reference trajectory explicitly during its operation. As a result, apart from numerical noise reduction, the autonomous trajectory generation algorithms need not be tightly coupled to the control algorithm for purpose of real time execution.

Copyright © 1991 by The American Society of Mechanical Engineers
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