Abstract
Due to the presence of right-half plane zeroes in the transfer function of a nonminimum-phase plant, conventionally designed feedforward controller becomes unstable. Main focus of this article is put on a comparison of the Extended Bandwidth Zero Phase Error and recently proposed fixed-structure approximate inverse feedforward control design methods applicable to the nonminimum-phase systems. Comparison of the techniques presented in the paper is based on the frequency analysis of a closed-loop error transfer function, followed by simulation examples and experimental validation on a laboratory setup with a double-drum coiling machine. Both simulation and experimental results showed the superiority of trajectory tracking obtained by the fixed-structure approximate inverse method under the assumed conditions.
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Łakomy, K., Michałek, M.M. (2017). Comparison of the feedforward control design methods for nonminimum-phase LTI SISO systems with application to the double-drum coiling machine. In: Mitkowski, W., Kacprzyk, J., Oprzędkiewicz, K., Skruch, P. (eds) Trends in Advanced Intelligent Control, Optimization and Automation. KKA 2017. Advances in Intelligent Systems and Computing, vol 577. Springer, Cham. https://doi.org/10.1007/978-3-319-60699-6_24
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DOI: https://doi.org/10.1007/978-3-319-60699-6_24
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