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Two-degree-of-freedom control with tuning of both prefilter and feedforward controller

Two-degree-of-freedom control with tuning of both prefilter and feedforward controller Using a two-degree-of-freedom structure allows us to independently design the feedforward controller and the feedback controller to improve system response and achieve plant stabilisation, respectively. Feedforward control with online tuning is particularly promising for achieving good response, which is why various schemes have been proposed in literature. This paper proposes yet another scheme, which focuses on tuning both the prefilter and feedforward controller with a fixed feedback controller synthesised via H-optimisation. The scheme thereby avoids pole/zero cancellation and tunes parameter in those blocks linearly. Furthermore, the presence of bounded parametric model uncertainty can be addressed by mixed sensitivity controller synthesis that will focus on stabilising the plant, allowing robustness. Numerical simulation with a couple of examples is carried out to illustrate the proposed design procedure. Keywords: two-degree-of-freedom structure; feedforward learning control; feedback error learning; FEL; h-infinity optimisation; h-infinity norm; mixed sensitivity; model uncertainty. Reference to this paper should be made as follows: Mateo, L.A. and Sugimoto, K. (2015) `Two-degree-of-freedom control with tuning of both prefilter and feedforward controller', Int. J. Advanced Mechatronic Systems, Vol. 6, No. 6, pp.277­288. Biographical notes: Lorlynn Asuncion Mateo graduated from the Ateneo de Manila University with a Bachelor's degree in Electronics and Communications http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Advanced Mechatronic Systems Inderscience Publishers

Two-degree-of-freedom control with tuning of both prefilter and feedforward controller

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Publisher
Inderscience Publishers
Copyright
Copyright © 2015 Inderscience Enterprises Ltd.
ISSN
1756-8412
eISSN
1756-8420
DOI
10.1504/IJAMECHS.2015.074789
Publisher site
See Article on Publisher Site

Abstract

Using a two-degree-of-freedom structure allows us to independently design the feedforward controller and the feedback controller to improve system response and achieve plant stabilisation, respectively. Feedforward control with online tuning is particularly promising for achieving good response, which is why various schemes have been proposed in literature. This paper proposes yet another scheme, which focuses on tuning both the prefilter and feedforward controller with a fixed feedback controller synthesised via H-optimisation. The scheme thereby avoids pole/zero cancellation and tunes parameter in those blocks linearly. Furthermore, the presence of bounded parametric model uncertainty can be addressed by mixed sensitivity controller synthesis that will focus on stabilising the plant, allowing robustness. Numerical simulation with a couple of examples is carried out to illustrate the proposed design procedure. Keywords: two-degree-of-freedom structure; feedforward learning control; feedback error learning; FEL; h-infinity optimisation; h-infinity norm; mixed sensitivity; model uncertainty. Reference to this paper should be made as follows: Mateo, L.A. and Sugimoto, K. (2015) `Two-degree-of-freedom control with tuning of both prefilter and feedforward controller', Int. J. Advanced Mechatronic Systems, Vol. 6, No. 6, pp.277­288. Biographical notes: Lorlynn Asuncion Mateo graduated from the Ateneo de Manila University with a Bachelor's degree in Electronics and Communications

Journal

International Journal of Advanced Mechatronic Systems – Inderscience Publishers

Published: Jan 1, 2015

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