A solution technique for almost perfect tracking of non-minimum-phase, discrete-time linear systems

  • Marconi L
  • Marro G
  • Melchiorri C
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Abstract

In this paper, the Steering Along Zeros Control technique for achieving a stable inversion of discrete-time non-minimum- phase linear systems is presented. It is shown how the problem reduces to the computation of an ideal initial state from which perfect tracking of a given reference signal can be achieved with a bounded control effort. A case study is presented relative to the control of a one-link flexible arm.

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Authors

  • Andrea SerraniDept. of Electrical and Computer Engineering, The Ohio State University

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  • Giovanni Marro

  • Claudio Melchiorri

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