Feedforward Controllers and Tracking Accuracy in the Presence of Plant Uncertainties

[+] Author and Article Information
Yongdong Zhao, Suhada Jayasuriya

Department of Mechanical Engineering, Texas A&M University, College Station, TX 77843-3123

J. Dyn. Sys., Meas., Control 117(4), 490-495 (Dec 01, 1995) (6 pages) doi:10.1115/1.2801105 History: Received September 22, 1993; Online December 03, 2007


In the absence of plant parameter uncertainty feedforward controllers can be synthesized to achieve perfect continuous tracking. When plant has uncertainties it is, in general, impossible to achieve such perfect tracking. Investigated in this paper is the role played by feedforward controllers in the presence of plant uncertainties. We show that the use of feedforward controllers cannot improve the tracking error beyond what is achievable with a properly designed feedback loop, over all plant uncertainties. Including preview in the feedforward will not alter the situation either. We present two methods of designing robust compensators so that the tracking error due to uncertainties will be made small in some sense in the frequency domain and will have zero error in the steady state.

Copyright © 1995 by The American Society of Mechanical Engineers
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