Abstract
Using the future desired input value, zero phase error controller makes the overall system's frequency response exhibit zero phase shift for all frequencies and a small gain error at low frequency range, which presents a new algorithm to design the feedforward controller. However, zero phase error controller is only suitable for certain system. In order to reduce the phase error and improve robustness, the design of proposed feedforward controller uses a neural compensation based on diagonal recurrent neural network. Simulation results for a servo system show the effectiveness of the proposed approach.
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