Abstract
In this paper, we introduce a new seeking control method based on the frequency shaped final-state control (FFSC). The seeking control method is a two-degree-of-freedom control, which is the plant-based feedforward control. The feedforward control input is designed through zero-order-hold using FFSC which imposes the constraints on control input magnitude and its frequency components to minimize residual vibrations. The reference generation is made through a feedforward path controller which is in the form of the zero-phase error tracking controller (ZPETC) of the nominal plant. The reference prefilter is designed to compensate the delay in the control system via the ZPETC. Mode switching control (MSC) is employed to enhance tracking performance after settling. An add-on type disturbance observer that is in the form of finite impulse response is used with the feedback controller. From the simulation results, the proposed method shows the improvement to the settling and disturbance rejection.
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