To help to achieve high performances in the regulation of linear scalar (SISO) nonminimum-phase systems, an inversion-based (feedforward) control method is proposed. The aim is designing an inverse input to smoothly switch from a current, arbitrary, steady-state regime to a new, future, desired steady-state output. A new-found polynomial basis solves the related interpolation problem to join the current output to the future one while ensuring the necessary or desired smoothness. The (interpolation) transition time can be minimized in order to optimally reduce the delay with which the desired output occurs. By applying a behavioral stable inversion formula to the overall smoothed output, detailed expressions of the inverse input are finally derived. A simulation of a flexible arm rotating in the horizontal plane exemplifies the presented method.
Polynomial interpolation for inversion-based control / Minari, A.; Piazzi, A.; Costalunga, A.. - In: EUROPEAN JOURNAL OF CONTROL. - ISSN 0947-3580. - 56:(2020), pp. 62-72. [10.1016/j.ejcon.2020.01.007]
Polynomial interpolation for inversion-based control
Minari A.;Piazzi A.
;Costalunga A.
2020-01-01
Abstract
To help to achieve high performances in the regulation of linear scalar (SISO) nonminimum-phase systems, an inversion-based (feedforward) control method is proposed. The aim is designing an inverse input to smoothly switch from a current, arbitrary, steady-state regime to a new, future, desired steady-state output. A new-found polynomial basis solves the related interpolation problem to join the current output to the future one while ensuring the necessary or desired smoothness. The (interpolation) transition time can be minimized in order to optimally reduce the delay with which the desired output occurs. By applying a behavioral stable inversion formula to the overall smoothed output, detailed expressions of the inverse input are finally derived. A simulation of a flexible arm rotating in the horizontal plane exemplifies the presented method.File | Dimensione | Formato | |
---|---|---|---|
2020-Minari-Piazzi-Costalunga-EJCON_post-print.pdf
accesso aperto
Descrizione: Articolo
Tipologia:
Documento in Post-print
Licenza:
Creative commons
Dimensione
324.86 kB
Formato
Adobe PDF
|
324.86 kB | Adobe PDF | Visualizza/Apri |
polynomial.pdf
solo utenti autorizzati
Tipologia:
Versione (PDF) editoriale
Licenza:
NON PUBBLICO - Accesso privato/ristretto
Dimensione
916.14 kB
Formato
Adobe PDF
|
916.14 kB | Adobe PDF | Visualizza/Apri Richiedi una copia |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.