Abstract
AbstractPrecise trajectory tracking for the maximum phase system can be achieved by the stable inversion method. However, its side effect is requiring the sufficient extended zero trajectory. To overcome this drawback, firstly, this paper introduces the concept of stable initial state which is of vital importance to achieve precise output tracking. And then several methods have been presented to obtain the stable initial state. Both the standard method and the pre‐actuation method can be seen as the simplified stable inversion method under certain conditions, but the two methods only perform approximate output tracking. To achieve precise trajectory tracking, the optimal state transition method and the combination method consisting of the pre‐actuation and the optimal state transition are introduced. Finally, the optimal combination method is proposed to obtain the best overall tracking effect. In brief, different methods are fit for different situation but the optimal combination method is the finest method in practical situation. The effectiveness of the proposed methods are verified through numerical simulations for the maximum phase system.
Published Version
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