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TECHNICAL PAPERS

Zero Phase Error Tracking System With Arbitrarily Specified Gain Characteristics

[+] Author and Article Information
Manabu Yamada, Yasuyuki Funahashi, Shin-ichi Fujiwara

Department of Mechanical Engineering, Nagoya Institute of Technology, Nagoya 466, Japan

J. Dyn. Sys., Meas., Control 119(2), 260-264 (Jun 01, 1997) (5 pages) doi:10.1115/1.2801242 History: Received April 29, 1994; Revised October 18, 1996; Online December 03, 2007

Abstract

This paper considers a design problem of discrete-time preview feedforward controllers such that the gain characteristics of the overall system is within an arbitrarily specified bound subject to the zero phase error condition for a plant having nonminimum phase zeros. In order to solve this problem, a feedforward controller termed Optimal-Feedforward Controller with Zero Phase Error Tracking Controller (Optimal-FCZPETC) is introduced. With this controller, the phase characteristics of the overall system is zero for all frequencies and the maximum value of the gap between the gain of the overall system and unity, which is ideal gain characteristics, is minimized under given preview steps. The choice of the preview steps is an unsolved problem. In this paper, we investigate the Optimal-FCZPETC from the viewpoint of the preview steps. The contribution is to give explicitly the minimum value of the maximum gap between the gain of the overall system and unity for given preview steps and to show that the minimum value can be made arbitrarily small as the preview steps increase. As a result, a simple algorithm is proposed to find the minimum preview steps such that the gain characteristics of the overall system is within an arbitrarily specified bound. The effectiveness is shown by simulation results.

Copyright © 1997 by The American Society of Mechanical Engineers
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