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CONFIDENTIAL. Limited circulation. For review only. The Effect of Nonminimum-Phase Zero Locations on the Performance of Feedforward Model-Inverse Control Techniques in Discrete-Time Systems
BibTeX
@MISC{Butterworth_confidential.limited,
author = {Jeffrey A. Butterworth and Lucy Y. Pao and Daniel Y. Abramovitch},
title = {CONFIDENTIAL. Limited circulation. For review only. The Effect of Nonminimum-Phase Zero Locations on the Performance of Feedforward Model-Inverse Control Techniques in Discrete-Time Systems},
year = {}
}
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Abstract
Abstract — Noncollocated sensors and actuators, and/or fast sample rates with plants having high relative degree, can lead to nonminimum phase (NMP) discrete-time zero dynamics that complicate the control system design. In this paper, we examine three stable approximate model-inverse feedforward control techniques, the nonmimimum-phase zeros ignore (NPZ-Ignore), the zero-phase-error tracking controller (ZPETC) and the zero-magnitude-error tracking controller (ZMETC), which have frequently been used for nonminimum phase systems. We analyze how the discrete-time NMP zero locations in the z-plane affect the success of the NPZ-Ignore, ZPETC, and ZMETC model-inverse techniques. We also provide simulation examples using a plants based on the system identification of an atomic force microscope and a hard disk drive, showing the tradeoffs in performance relative to NMP zero locations in these different application systems. I.
Keyphrases
limited circulation nonminimum-phase zero location discrete-time system feedforward model-inverse control technique discrete-time zero dynamic atomic force microscope nonmimimum-phase zero ignore abstract noncollocated sensor control system design performance relative zmetc model-inverse technique hard disk drive nonminimum phase simulation example system identification nonminimum phase system fast sample rate high relative degree discrete-time nmp different application system
