Adaptive feedback feedforward compensation for disturbance rejection in a one DOF flexible structure: comparative analysis

Abstract

In this paper an Active Vibrational Control (AVC) for a three-cart problem is studied. The Filtered-x Least Mean Square (FxLMS) and Recursive Least Square (RLS) algorithms are compared in terms of disturbance rejection, computational cost and control effort when a correlated measurement of the disturbance is available. The proposed RLS compensator considers a feedback coupling between the compensator and the disturbance. The secondary propagation path of the plant was estimated using normalized LMS (NLMS) algorithm. The internal positive coupling is modeled as a FIR filter estimated by the real plant parameters. Simulations showed a superior performance of RLS algorithm with a reasonable computer cost. The comparative analysis was performed comparing the tradeoff between thefilter order and the magnitude of the rejection.