Abstract
The purpose of the research is tracking control to follow the input reference signal such as step, ramp, parabolic, and high order reference stably. The challenge is rising when high order input references, such as parabolic or polynomial, are used in the advanced system. Like in satellite and missile launcher systems, the triple integrator systems have to follow parabolic or polynomial trajectory with high stability required. The research proposed an integrals state feedback controller to combine simple state feedback control with cascade-layered integral control. The order of the input reference defines the structure and number of integrals used. Along with Coefficient Diagram Method in its tuning process, the proposed controller is guaranteed to have good stability and zero steady-state error. Simulation results and mathematical proofs of stability and zero steady-state error are provided on the paper. The proposed method can follow various input references such as the ramp, parabolic, polynomial, and higher-order reference based on the simulation and mathematical proofs. The stability using the pole location also shown the negative poles that give a stable system.
Highlights
The goal of tracking control is to follow any kind of reference signal
There are less popular polynomial references, such as third-order polynomial reference, fourth-order polynomial reference, and higher-order reference (HOR), which are used in the trajectory system or more complex and advanced systems
POLYNOMIAL INPUT REFERENCE TRACKING The second examination is about control the system for the polynomial reference
Summary
There are some reference signals such as impulse [1], [2], step [3], [4], ramp [5], parabolic [6], [7], parabola [8], periodic [9], sine [10], pulse [1], [11], and random [1], which commonly used in control, robotic and industrial systems as input reference. Some researches about tracking control of step, ramp, and parabolic signals have been done. Controller [18], nonlinear tracking control [19] and backstepping [20] Those researches have not been evaluated for input signal tracking with higher reference order than the parabolic signal. This research proposes a new control approach to track high order input references
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