Extended Pole Placement Method With Noncausal Reference Model for Digital Servo-Control

[+] Author and Article Information
Chwan-Hsen Chen

Mechanical Engineering Department, Yuan-Ze Inst. of Technology, Taiwan, China

Hendrik Van Brussel

Department of Mechanical Engineering, Katholieke Universiteit Leuven, B 3001 Heverlee, Belgium

Jan Swevers

N.F.W.O. (Belgian National Fund for Scientific Research)

J. Dyn. Sys., Meas., Control 117(4), 641-644 (Dec 01, 1995) (4 pages) doi:10.1115/1.2801127 History: Received October 13, 1992; Revised August 12, 1994; Online December 03, 2007


The extended pole placement (EPP) method extends the well-known pole placement method to digital servo-control with known control inputs. A servo-control system designed using the EPP method achieves an accurate command response through the use of a noncausal reference model and an accurate approximation of nonminimum-phase zeros. The phase error of the command response between the desired output and the actual output may be made arbitrarily small, while its gain extends uniformly to a selectable bandwidth. A selectable feedforward bandwidth is important in controlling flexible structures where unmodeled resonances might be excited by rough feedforward inputs. Experimental results on a machine tool slide show that a controller designed by the EPP method yields better servo performance for cornering and contour tracking tasks than an E-filter-enhanced zero phase error tracking controller.

Copyright © 1995 by The American Society of Mechanical Engineers
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