Abstract
The two-degree-of-freedom (2DOF) structure achieves stabilization and good tracking independently by feedback (FB) and feedforward (FF) control, respectively. The latter often suffers from model uncertainty, which is remedied by tuning the FF control on-line. A tuning law ensures that the tracking error converges to zero for any target signals under a strictly positive real (SPR) condition, but this is rather restrictive. This paper proposes a robust design method for the tuning law in FF control, which is effective for any minimum phase plant with relative degree one, by using a Lyapunov solution derived in the FB control design. The effectiveness of the proposed method is illustrated via numerical examples.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
