Abstract
An nth-order closed-loop hybrid system will exhibit a deadbeat response if the system output approaches the reference input in n steps. This paper studies the problem of obtaining a deadbeat response for an nth-order single-input single-output plant (process) in n + 2 steps with a minimum deadbeat controller output deviation from the steady state value. We identify the requirements for the design of a deadbeat controller with two additional steps and present worked examples for the problem. A deadbeat controller is then used to control a piezoelectric micro-robot model. The second order continuous transfer function is used to simulate the robot’s piezoelectric actuator. This research presents the advantages of a deadbeat controller with two additional steps when applied to a robot control problem.DOI: http://dx.doi.org/10.5755/j01.eie.23.5.19115
Highlights
A deadbeat control algorithm is used when a rapid settling time is required
The main drawback of the deadbeat controller is that the sampling period T0 is the only design parameter that influences the magnitude of the manipulated variable u(0)
In this paper we proposed a control strategy to utilise the deadbeat controllers design for the piezoelectric actuator
Summary
A deadbeat control algorithm is used when a rapid settling time is required. The deadbeat controller design is presented in the z-domain. A deadbeat controller replaces the poles of the system with poles at the origin of the z-domain [1]. The main drawback of the deadbeat controller is that the sampling period T0 is the only design parameter that influences the magnitude of the manipulated variable u(0). As the magnitude of the manipulated variable u(0) increases, the sampling period decreases. It is possible to increase the number of design parameters by designing an extended order deadbeat controller [1], [2]. The presented n + 2 order design for the deadbeat controller is based on the continuous object ztransfer function.
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