RESEARCH PAPERS: Design and Synthesis

On the Design of Digital Tracking Controllers

[+] Author and Article Information
Masayoshi Tomizuka

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

J. Dyn. Sys., Meas., Control 115(2B), 412-418 (Jun 01, 1993) (7 pages) doi:10.1115/1.2899081 History: Received January 06, 1993; Online March 17, 2008


This paper describes my work on the design of digital tracking controllers over the past two decades. In tracking control, the control object must be moved along a time varying desired output and the transient path error must be minimized. Tracking control is discussed for the following two typical situations: one is the situation where the desired output is known in advance and the other is where the desired output itself is not known but has a certain known property, e.g., it is periodic with a known period. Control algorithms for dealing with these situations will be reviewed and applications to mechanical systems are discussed.

Copyright © 1993 by The American Society of Mechanical Engineers
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