Abstract
A plant with unstable zeros is known to be difficult to control because of initial undershoot of step response and unstable poles in its inversion system. There are two reasons why a plant has unstable zeros in the discrete time domain: 1) non-collocation of actuators and sensors, 2) discretization by zero-order-hold. Problem 2) has been solved by the perfect tracking control (PTC) method based on multirate feedforward control proposed by our research group. However, the conventional PTC method cannot achieve the perfect tracking for a plant with continuous time unstable zeros generated by 1) because of the divergence of the desired state trajectories. Preactuation Perfect Tracking Control (PPTC) method proposed by our group solves problem 1) by the state trajectory generation based on a time axis reversal. This paper verifies the effectiveness of PPTC by simulations and experiments in comparison with several single rate feedforward control methods.
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