Preactuated Multirate Feedforward Control for Independent Stable Inversion of Unstable Intrinsic and Discretization Zeros

Ohnishi, Wataru; Beauduin, Thomas; Fujimoto, Hiroshi

doi:10.1109/tmech.2019.2896237

Cited by 22 publications

(18 citation statements)

References 31 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Exact state tracking is experienced to yield good intersample behavior in multirate inversion [11], whereas exact output tracking yields good on-sample behavior in stable inversion [6]. Hence, the choice of the decomposition into H 1 and H 2 can be used to balance the on-sample behavior and the intersample behavior to the benefit of the continuous-time performance.…”

Section: A Conceptual Ideamentioning

confidence: 99%

“…A similar approach as in [11] is used based on the controllable canonical form given by Lemma 1, see also…”

Section: B Desired State For Continuous-time Systemmentioning

confidence: 99%

“…Note that u 1 is bounded ifx 1 is bounded, even if H 1 is nonminimum phase. More details can be found in, for example, [11], [12]. The desired statex 1 in Theorem 6 is obtained by Procedure 7 which follows from Section III-B and Section III-C. An example of the application of Procedure 7 to a motion system is provided in Appendix B.…”

Section: A Approach For Lti Systemsmentioning

confidence: 99%

“…Corollary 10 (Special case: multirate inversion [11], [12]). The multirate inversion solution for H is recovered from the approach in Section IV as special case if H = H 1 , i.e., H 2 = I and n 1 = n.…”

Section: Special Casesmentioning

confidence: 99%

“…Multirate inversion [11], [12] provides an interesting alternative to improve intersample behavior by sacrificing onsample performance. However, the approach does not take into account the system dynamics when balancing the intersample and on-sample performance.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Improving Intersample Behavior in Discrete-Time System Inversion: With Application to LTI and LPTV Systems

Zundert

Ohnishi

Fujimoto

et al. 2020

IEEE/ASME Trans. Mechatron.

Self Cite

View full text Add to dashboard Cite

DOI to the publisher's website. • The final author version and the galley proof are versions of the publication after peer review. • The final published version features the final layout of the paper including the volume, issue and page numbers. Link to publication General rights Copyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights. • Users may download and print one copy of any publication from the public portal for the purpose of private study or research. • You may not further distribute the material or use it for any profit-making activity or commercial gain • You may freely distribute the URL identifying the publication in the public portal. If the publication is distributed under the terms of Article 25fa of the Dutch Copyright Act, indicated by the "Taverne" license above, please follow below link for the End User Agreement:

show abstract

Section: A Conceptual Ideamentioning

confidence: 99%

“…A similar approach as in [11] is used based on the controllable canonical form given by Lemma 1, see also…”

Section: B Desired State For Continuous-time Systemmentioning

confidence: 99%

Section: A Approach For Lti Systemsmentioning

confidence: 99%

Section: Special Casesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Improving Intersample Behavior in Discrete-Time System Inversion: With Application to LTI and LPTV Systems

Zundert

Ohnishi

Fujimoto

et al. 2020

IEEE/ASME Trans. Mechatron.

Self Cite

View full text Add to dashboard Cite

show abstract

State‐tracking iterative learning control in frequency domain design for improved intersample behavior

Ohnishi

Strijbosch

Oomen

2022

Intl J Robust & Nonlinear

Self Cite

View full text Add to dashboard Cite

Iterative learning control (ILC) yields perfect output‐tracking performance at sampling instances for systems that perform repetitive tasks. The aim of this article is to develop a framework for a state‐tracking ILC that mitigates oscillatory intersample behavior, which is often encountered in output tracking ILC. As a framework for the analysis, the stability of the iterative domain including the robustness filter and the asymptotic signal is formulated. In addition, as a framework for the design, the design method using frequency response data to reduce the modeling effort, the learning filter design based on inversion, and the specific design procedure of the robustness filter are presented. The designed method is successfully applied to a motion system and it is shown that the presented state‐tracking ILC provides better intersample behavior than the standard output‐tracking ILC.

show abstract

An optimization approach to extend control period for dynamics control of Autonomous Underwater Vehicles with X-form rudders

Chen,

Liu,

Wang

2023

Applied Ocean Research

View full text Add to dashboard Cite

Preactuated Multirate Feedforward Control for Independent Stable Inversion of Unstable Intrinsic and Discretization Zeros

Cited by 22 publications

References 31 publications

Improving Intersample Behavior in Discrete-Time System Inversion: With Application to LTI and LPTV Systems

Improving Intersample Behavior in Discrete-Time System Inversion: With Application to LTI and LPTV Systems

State‐tracking iterative learning control in frequency domain design for improved intersample behavior

An optimization approach to extend control period for dynamics control of Autonomous Underwater Vehicles with X-form rudders

Contact Info

Product

Resources

About