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TECHNICAL BRIEFS

Two-Degree-of-Freedom Optimal Preview Tracking Control: A Mechatronic Design Example

[+] Author and Article Information
Jin-Hua She

Department of Mechatronics, School of Engineering, Tokyo University of Technology, 1404-1 Katakura, Hachioji, Tokyo, 192-0982, Japan e-mail: she@cc.teu.ac.jp

Xin Xin

Department of Communication Engineering, Faculty of Computer Science and System Engineering, Okayama Prefectural University, 111 Kuboki, Soja, Okayama, 719-1197, Japan e-mail: xxin@c.oka-pu.ac.jp

Yasuhiro Ohyama

Department of Mechatronics, School of Engineering, Tokyo University of Technology, 1404-1 Katakura, Hachioji, Tokyo, 192-0982, Japan e-mail: ohyama@cc.teu.ac.jp

J. Dyn. Sys., Meas., Control 124(4), 704-709 (Dec 16, 2002) (6 pages) doi:10.1115/1.1515332 History: Received October 01, 1999; Revised May 01, 2002; Online December 16, 2002
Copyright © 2002 by ASME
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References

Vidyasagar, M., 1985, Control System Synthesis: A Factorization Approach, MIT Press.
Hara,  S., and Sugie,  T., 1988, “Independent Parameterization of Two-Degree-of-Freedom Compensators in General Robust Tracking Systems,” IEEE Trans. Autom. Control, 33, pp. 59–67.
Bamieh,  B. A., and Pearson,  J. B., 1992, “A General Framework for Linear Periodic Systems With Applications to H Sampled-Data Control,” IEEE Trans. Autom. Control, 37, pp. 418–435.
Kabamba,  P. T., and Hara,  S., 1993, “Worst-Case Analysis and Design of Sampled-Data Control Systems,” IEEE Trans. Autom. Control, 38, pp. 1337–1357.
Jayasuriya, S., and Tomizuka, M., 1992, “Generalized Feedforward Controllers, Perfect Tracking and Zero Phase Error,” Japan/USA Symp. on Flexible Automation, 1 , pp. 511–514.
Tomizuka,  M., 1993, “On the Design of Digital Tracking Controllers,” ASME J. Dyn. Syst., Meas., Control, 115, pp. 412–418.
Tsao,  T.-C., 1994, “Optimal Feed-Forward Digital Tracking Controller Design,” ASME J. Dyn. Syst., Meas., Control, 116, pp. 583–692.
Xin,  X., Guo,  L., and Feng,  C., 1996, “Reduced-Order Controllers for Continuous and Discrete-Time Singular H Control Problems Based on LMI,” Automatica, 32, pp. 1581–1585.
Ohyama, Y., She, J.-H., and Watanabe, K., 1999, “A Prototype Internet Experiment System for Control Engineering,” IEEE Int. Conf. on Systems, Man, and Cybernetics, 1 , pp. 894–898.
Sivashankar,  N., and Khargonekar,  P. P., 1993, “Robust Stability and Performance Analysis of Sampled-Data Systems,” IEEE Trans. Autom. Control, 38, pp. 58–69.
Gahinet,  P., and Apkarian,  P., 1994, “A Linear Matrix Inequality Approach to H Control,” Int. J. Robust Nonlinear Control, 4, pp. 421–448.

Figures

Grahic Jump Location
Configuration of two-degree-of-freedom robust tracking control system
Grahic Jump Location
Design of feedback controller
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Simulation results of optimal preview response for the nominal plant (solid) and the heaviest inertial load (dotted)
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Photograph of the experimental system
Grahic Jump Location
Optimal preview response for the heaviest inertial load (experiment)  

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