相关论文: Method for Undershoot-Less Control of Non-Minimum …

As a very well-known classical fact, non-minimum phase zeros of the process put some limitations on the performance of the feedback system. The source of these limitations is that such non-minimum phase zeros cannot be cancelled by unstable…

The non-minimum phase (NMP) zero of a linear process located in the feedback connection cannot be cancelled by the same pole of controller according to the internal instability problem. However, such a zero can partly be cancelled by the…

This brief presents a simple derivation of the standard model-free control for the non-minimum phase systems. The robustness of the proposed method is studied in simulation considering the case of switched systems.

We exploit a recently developed funnel control methodology for linear non-minimum phase systems to design an output error feedback controller for a nonlinear robotic manipulator, which is not minimum phase. We illustrate the novel control…

Two ways of designing low-order discrete-time (i.e. digital) controls for low-order plant (i.e. process) models are considered in this tutorial. The first polynomial method finds the controller coefficients that place the poles of the…

This paper extends the formulation of a data-driven control method - the Optimal Controller Identification (OCI) - to cope with non-minimum phase (NMP) systems, without a priori knowledge of the NMP transmission zero, i.e. without obtaining…

This paper exhibits the closed-loop design constraints using the non-analytic function theory. First, the paper generalizes the sensitivity integral for linear feedback systems with the non-analytic sensitivity function. Sensitivity…

Non-minimum-phase (NMP) zeros in multi-converter power systems impose bandwidth ceilings on feedback control, yet quantifying them at the system level has been impractical because commercial converters withhold their internal controller…

Feedback optimization is a control paradigm that enables physical systems to autonomously reach efficient operating points. Its central idea is to interconnect optimization iterations in closed-loop with the physical plant. Since iterative…

We introduce a method to deal with the data-driven control design of nonlinear systems. We derive conditions to design controllers via (approximate) nonlinearity cancellation. These conditions take the compact form of data-dependent…

Stably inverting a dynamic system model is the foundation of numerous servo designs. Existing inversion techniques have provided accurate model approximations that are often highly effective in feedforward controls. However, when the…

A fully analytical controller design is proposed to tackle a periodic control problem for stable linear systems with an input delay. Applying the internal model control scheme, the controller design reduces to designing a filter, which is…

This article presents proposals for the design of reduced-order controllers for high-dimensional dynamical systems. The objective is to develop efficient control strategies that ensure stability and robustness with reduced computational…

This work studies mean-square stabilizability via output feedback for a networked linear time invariant (LTI) feedback system with a non-minimum phase plant. In the feedback system, the control signals are transmitted to the plant over a…

This paper presents a learning-based approach for impromptu trajectory tracking for non-minimum phase systems, i.e., systems with unstable inverse dynamics. Inversion-based feedforward approaches are commonly used for improving tracking…

We consider tracking control for uncertain linear systems with known relative degree which are possibly non-minimum phase, i.e., their zero dynamics may have an unstable part. For a given sufficiently smooth reference signal we design a…

In this paper, we consider the closed-loop control problem of nonlinear robotic systems in the presence of probabilistic uncertainties and disturbances. More precisely, we design a state feedback controller that minimizes deviations of the…

This work introduces a controller synthesis method via system level synthesis for nonlinear systems characterized by polynomial dynamics. The resulting framework yields finite impulse response, time-invariant, closed-loop transfer functions…

This study presents two analytical closed-form PI controller tuning solutions for second-order plants with real poles, each achieving monotonic step response and minimum settling time. The first solution employs pole-zero cancellation,…

This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…