M. Delasen et A. Pena, SYNTHESIS OF CONTROLLERS FOR ARBITRARY POLE-PLACEMENT IN DISCRETE PLANTS INCLUDING UNSTABLE ZEROS WITH EXTENSIONS TO ADAPTIVE-CONTROL, Journal of the Franklin Institute, 335B(3), 1998, pp. 471-502
Citations number
14
Categorie Soggetti
Mathematics,"Engineering, Mechanical","Engineering, Eletrical & Electronic","Robotics & Automatic Control
This paper presents new simultaneous pole and zero placement schemes b
ased on the use of feedforward and feedback compensators. The main nov
elty is that the plant is allowed to possess unstable zeros which are
not required to be included as zeros of the reference model. The contr
ol objective of model-following is achieved by including a feedforward
compensator between either the reference or the control signals and t
he plant output which is incorporated to the usual schemes consisting
in a precompensator and a feedback compensator. Basically, two control
schemes are presented, but some extensions are given allowing signal
feedforward injections at intermediate state variables of the plant in
stead of the standard injections at the output and the use of blocking
filters for the significant frequencies of the output of the feedforw
ard compensator. These schemes lead to two diophantine equations, one
being used for standard pole placement while the other being basically
used for the placement of zeros in prescribed positions. Several nume
rical simulations ave given to illustrate the capability of the scheme
s for simultaneous pole and zero placement in the absence and in the p
resence of noise and their application for adaptive control. (C) 1997
The Franklin Institute. Published by Elsevier Science Ltd.