Stable Inversion of Linear Discrete-Time Systems and Trajectory-Tracking Control
- Resource Type
- Conference
- Authors
- Taylor, David G.
- Source
- SoutheastCon 2024 SoutheastCon, 2024. :1408-1413 Mar, 2024
- Subject
- Aerospace
Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Engineered Materials, Dielectrics and Plasmas
Engineering Profession
Fields, Waves and Electromagnetics
General Topics for Engineers
Geoscience
Nuclear Engineering
Photonics and Electrooptics
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Discrete-time systems
Actuators
Sensitivity
Regulators
Microcontrollers
Design methodology
Control systems
- Language
- ISSN
- 1558-058X
This paper presents solutions for two related design problems: (i) trajectory design using stable inversion methods; and (ii) controller design for tracking commanded outputs. Two approaches to stable inversion are provided, one that uses an inverse model and one that does not. The controller consists of a state estimator and a regulator with integral action, and it provides zero output error with unknown constant disturbances. The proposed design methods are shown to be effective for a two-mass plant with non-colocated actuator and sensor.