The effect of nonminimum-phase zero locations on the performance of feedforward model-inverse control techniques in discrete-time systems

Proceedings of the American Control Conference

Volumn , Issue , 2008, Pages 2696-2702

  Butterworth, Jeffrey A ^a   Pao, Lucy Y ^b   Abramovitch, Daniel Y ^c  

^a UNIVERSITY OF COLORADO   (United States)

^b UCB 450   (United States)

^c AGILENT LABORATORIES   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTINUOUS TIME SYSTEMS; CONTROL SYSTEMS; DIGITAL CONTROL SYSTEMS; FLIGHT CONTROL SYSTEMS; HARD DISK STORAGE; IDENTIFICATION (CONTROL SYSTEMS);

APPLICATION SYSTEMS; APPROXIMATE MODELS; ATOMIC FORCE MICROSCOPE; CONTROL SYSTEM DESIGNS; CONTROL TECHNIQUES; DISCRETE-TIME; DISCRETE-TIME SYSTEMS; ERROR TRACKING; FEED FORWARD; FEEDFORWARD MODEL; HARD DISK DRIVE; INVERSE CONTROL; INVERSE TECHNIQUES; PHASE ZEROS; RELATIVE DEGREES; SENSORS AND ACTUATORS; SYSTEM IDENTIFICATION; ZERO DYNAMICS;

DISCRETE TIME CONTROL SYSTEMS;

EID: 52449117477     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ACC.2008.4586900     Document Type: Conference Paper

References (20)

1. S. Devasia, D. Chen, and B. Paden, "Nonlinear inversion-based output tracking," IEEE Trans. Auto. Ctrl., vol. 41, no. 7, pp. 930-942, July 1996.
2. B. P. Rigney, L. Y. Pao, and D. A. Lawrence, "Nonminimum phase dynamic inversion for settle time applications," Provisionally accepted for publication in: IEEE Trans. Ctrl. Sys. Tech., 2008, pre-print available here: http://ece.colorado.edu/~pao/journals.html.
3. M. Tomizuka, "Zero phase error tracking algorithm for digital control," ASME J. Dyn. Sys., Meas., & Ctrl., vol. 109, pp. 65-68, March 1987.
4. Q. Zou and S. Devasia, "Preview-based optimal inversion for output tracking: Application to scanning tunneling microscopy," IEEE Trans. Ctrl. Sys. Tech., vol. 12, no. 3, pp. 375-386, May 2004.
5. L. Y. Pao, J. A. Butterworth, and D. Y. Abramovitch, "Combined feedforward/feedback control of atomic force microscopes," in Proc. Amer. Ctrl. Conf., July 2007, pp. 3509-3515.
6. B. Potsaid and J. T. Wen, "High performance motion tracking control," in Proc. IEEE Int. Conf. Ctrl. Apps., Sept. 2004, pp. 718-723.
7. B. P. Rigney, L. Y. Pao, and D. A. Lawrence, "Model inversion architectures for settle time applications with uncertainty," in Proc. IEEE Conf. Dec. & Ctrl., Dec. 2006, pp. 6518-6524.
8. _, "Settle-time performance comparisons of approximate inversion techniques for LTI nonminimum phase systems," in Proc. Amer. Ctrl. Conf., June 2006, pp. 600-605.
9. J. T. Wen and B. Potsaid, "An experimental study of a high performance motion control system," in Proc. Amer. Ctrl. Conf., June 2004, pp. 5158-5163.
10. D. Croft and S. Devasia, "Vibration compensation for high speed scanning tunneling microscopy," Rev. Sci. Instr., vol. 70, no. 12, pp. 4600-4605, Dec. 1999.
11. D. Croft, G. Shedd, and S. Devasia, "Creep, hysteresis, and vibration compensation for piezoactuators: Atomic force microscopy application," ASME J. Dyn. Sys., Meas., & Ctrl., vol. 123, pp. 35-43, March 2001.
12. S. Tien, Q. Zou, and S. Devasia, "Iterative control of dynamics-coupling-caused errors in piezoscanners during high-speed AFM operation," IEEE Trans. Ctrl. Sys. Tech., vol. 13, no. 6, pp. 921-931, Nov. 2005.
13. Y. Wu and Q. Zou, "Iterative control approach to compensate for the hysteresis and the vibrational dynamics effects of piezo actuators," in Proc. Amer. Ctrl. Conf., June 2006, pp. 424-429.
14. J. A. Butterworth, L. Y. Pao, and D. Y. Abramovitch, "Architectures for tracking control in atomic force microscopes," in Proc. IFAC World Cong., July 2008.
15. K. J. Åström, P. Hagaander, and J. Sternby, "Zeros of sampled systems," Automatica, vol. 20, no. 1, pp. 31-38, 1984.
16. E. Gross, M. Tomizuka, and W. Messner, "Cancellation of discrete time unstable zeros by feedforward control," ASME J. Dyn. Sys., Meas., & Ctrl., vol. 116, pp. 33-38, March 1994.
17. E. Gross and M. Tomizuka, "Experimental beam tip tracking control with a truncated series approximation to uncancelable dynamics," IEEE Trans. Ctrl. Sys. Tech., vol. 2, no. 4, pp. 382-391, Dec. 1994.
18. B. Haack and M. Tomizuka, "The effect of adding zeros to feedforward controllers," ASME J. Dyn. Sys., Meas., & Ctrl., vol. 113, no. 4, pp. 6-10, March 1991.
19. L. R. Hunt, G. Meyer, and R. Su, "Noncausal inverses for linear systems," IEEE Trans. Auto. Ctrl., vol. 41, no. 4, pp. 608-611, April 1996.
20. D. Y. Abramovitch, S. B. Andersson, L. Y. Pao, and G. Schitter, "A tutorial on the mechanisms, dynamics, and control of atomic force microscopes," in Proc. Amer. Ctrl. Conf., July 2007, pp. 3488-3502.