Tracking Control for Linear Non-minimum-phase Systems Based on a Blocking-zero Hold Function

以阻斷零點的持續函數對線性非最小相位系統的循軌控制

曾敏烈(Ming-Lei Tseng)

《華岡工程學報》 21期 (2007/06) Pp. 23-28

https://doi.org/10.29987/CCUHKJE.200706.0004

摘要

本研究提出針對線性非最小相位系統一個四階段的循軌控制方案。第一階段，利用狀態回饋使受控系統的所有極點都落在零。第二階段，用所謂阻斷零點的持續函數將此線性非最小相位連續系統轉換成最小相位的離散系統。第三階段，再利用狀態回饋將此離散系統的極點重新定位於預定的穩定位置。第四階段，循軌控制可經由極點／零點對消技巧來獲得。本研究提出的方法的有效性可藉由模擬來驗證。結果顯示：不僅可追蹤到取樣值，連取樣間的行為也有令人滿意的表現。

關鍵字

循環控制 ； 非最小相位狀態 ； 回饋阻斷零點的持續函數 ； 極點／零點對消

並列摘要

This paper proposes a four-step tracking control scheme for linear non-minimum-phase systems. First, the poles of the target system have to be placed all at 0 by means of state feedback. Subsequently, a blocking-zero hold function is proposed to transform this non-minimum-phase continuous system into a discretized minimum-phase one. Its system poles are then relocated at desired stable positions again by use of state feedback. Finally, the tracking control is achieved through pole/zero cancellation technique. The effectiveness of the proposed method is evaluated through simulation examples. The simulation has shown convincing results. The inter-sampling behavior is also investigated with satisfactory outcomes.

並列關鍵字

Tracking control ； Non-minimum-phase ； State feedback ； Blocking-zero hold function ； Pole/zero cancellation