Abstract
A new method for final-state control by feedforward input is presented and a simple algorithm to obtain the input is given. It is shown that for closed-loop systems with feedback compensators, a reference input can be used as the feedforward input for final-state control. The proposed method is examined through positioning control of a cart and flexible pendulum system. In order to suppress the vibration of the flexible pendulum, a minimum real H∞ controller is designed, and feedforward input for the final-state control of this closed-loop system is derived and tested through numerical calculations and experiments. As a result, it is shown that the performance of final-state control and vibration suppression by the feedforward input designed for the closed-loop system is superior to that designed for the open-loop system without a feedback compensator.
| Original language | English |
|---|---|
| Pages (from-to) | 906-911 |
| Number of pages | 6 |
| Journal | transactions of the japan society of mechanical engineers series c |
| Volume | 60 |
| Issue number | 571 |
| DOIs | |
| Publication status | Published - 1994 |
| Externally published | Yes |
Keywords
- Feedforward Compensation Input
- Final-State Control
- Flexible Pendulum
- H Control
- Positioning Control
- Robust Control
- Spillover
- Vibration Control
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering