Brief paper: Optimal preview-based stable-inversion for output tracking of nonminimum-phase linear systems

  • Authors:

  • Qingze Zou

  • Affiliations:

  • Mechanical Engineering Department, Iowa State University, Ames, IA 50011, United States

  • Venue:
  • Automatica (Journal of IFAC)
  • Year:
  • 2009

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Abstract

In this article, a new approach to output tracking of nonminimum-phase systems is proposed. The proposed technique extends the preview-based stable-inversion method to optimally utilize finite-preview (in time) of the future desired output trajectory to find the feedforward input (called the inverse input) for achieving precision output tracking for nonminimum-phase systems. It has been shown that having a large enough preview time is critical to ensure the precision in the preview-based output tracking. The available preview time, however, can be limited due to the physical constraints, and more generally, the associated cost and/or hardware limits. Therefore, we propose obtaining the optimal preview-based inverse input by minimizing, within the preview time window, the predicted tracking error (under the preview-based inverse input) relative to the input energy. A simulation study on a piezoelectric actuator model is used to illustrate the proposed technique.