Generalized optimal zero phase error tracking controller design

Manabu Yamada, Yasuyuki Funahashi, Zaier Riadh

Research output: Contribution to journalArticle

18 Citations (Scopus)

Abstract

This paper presents a simple design method of discrete-time feedforward controllers that provide the overall transfer function with the following frequency characteristics, (i) The phase is equal to zero for all frequencies, (ii) The gain is equal to one at given frequencies. (iii) The error between the gain and unity for a given frequency range is minimized under given preview steps. The contributions of this paper are as follows. First, a new approach based on the spectral factorization is proposed and the class of all controllers satisfying the above conditions (i) and (ii) is parametrized using the solution of a Diophantine equation, i.e., the controller is obtained in an explicit form. With this explicit parametrization, the optimal feedforward controller is obtained by an ordinary least square method. The design method proposed in this paper is simple and straightforward, whereas the design method in previous result requires the solution of an optimization problem with troublesome inequality constraint and involves trial and error. Secondly, the frequencies at which the gain is made equal to unity can be chosen arbitrarily, while, in previous result, the frequency is restricted to zero. Finally, the effectiveness of the proposed controller is demonstrated by simulation.

Original languageEnglish
Pages (from-to)165-170
Number of pages6
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Volume121
Issue number2
DOIs
Publication statusPublished - 1999

Fingerprint

phase error
controllers
Controllers
unity
diophantine equation
least squares method
Factorization
factorization
transfer functions
Transfer functions
frequency ranges
optimization
simulation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Instrumentation
  • Mechanical Engineering
  • Computer Science Applications

Cite this

Generalized optimal zero phase error tracking controller design. / Yamada, Manabu; Funahashi, Yasuyuki; Riadh, Zaier.

In: Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, Vol. 121, No. 2, 1999, p. 165-170.

Research output: Contribution to journalArticle

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