Improvement of Reference Tracking Capability of Digital Motion Control Systems

Abstract

Good reference trajectory tracking is required in many applications. In this paper it is shown how to design the application of reference speed and velocity to a positioning system in order to introduce zeros into the transfer function. These zeros are of equal importance for system dynamics as the poles. System peformance is shown for a dead beat controller design and for pole placement and quadratic criteria minimization for continuous and discrete design. Good reference tracking is necessary to specify controller power by the shape of the reference trajectory.