An Efficient Algorithm for the Real-Time Generation of Synchronous Reference Signals

Discontinuous reference signals reduce the performances of feedback control systems. This paper proposes an algorithm which generates smooth and synchronous set-points for electromechanical systems, starting from rough input signals. This result is achieved by filtering the discontinuous signals through a set of nonlinear filters whose output is given by smooth profiles subject to velocity and acceleration constraints. The reference synchronization is obtained by acting on the velocity bounds and can be customized to accomplish alternative tasks. In this work, for example, it is used to reduce friction power losses which affect electromechanical systems. The proposed algorithm is extremely compact and efficient, so that it can be implemented on control boards having limited memory and limited computational capabilities.