Concurrent Feedback/Feedforward Design for Second Order Systems

Abstract

This paper studies the problem of concurrent design of a feedback controller and a pre-filter to minimize a weighted cost comprising the maneuver time and the input power. The pre-filter is parameterized as a time-delay filter motivated by the Posicast controller. The proposed technique is illustrated on a double integrator assuming that the feedback controller is of the proportional derivative form. A closed form expression relating the weighting parameter and the number of delays, to the feedback gains is derived. The proposed technique is also illustrated on spring-mass and springmass-dashpot systems.